Hand Motion Assist Robot for Rehabilitation Therapy

摘要

This report presents a new hand motion assist robot for rehabilitation therapy. The robot has exoskeleton with 18 DOFs and a self-motion control – symmetrical master-slave motion assistance training. It assists independent flexion/extension and abduction/adduction of individual hand joints, thumb opposability, palmar flexion/dorsiflexion of the wrist, and forearm pronation/supination.