Concept selection and Kinematic modeling of hand rehabilitation robotic device

Abstract

Abstract Rehabilitation using an exoskeleton is one of the widely accepted methods for the recovery of lost motor abilities. Most of the present research concentrates on either soft or rigid exoskeletons. In this paper, the design of a five-finger exoskeleton is discussed along with the advantage of soft and rigid bodied exoskeletons. Concept selection for the designs is done using the standard procedure of screening and scoring. Forward and inverse kinematic modeling of thumb and index finger is performed with Denavit-Hartenberg (DH) method.