Grasping objects with the prototype of index-finger PIP joint motion amplifier for assisting rheumatoid arthritis patients

The authors propose an exoskeletal robotic hand for assisting the rheumatoid arthritis patients physically. In this paper, we categorized the types of exoskeletal devices into five groups, based on the patients' condition or capability of movement. Then, we constructed a prototype of one of the groups, which amplifies the motion of index-finger PIP joint. Some verification experiments were conducted, in which three subjects were directed to pick objects and place them using the device. The results derived prospect that it was feasible to assist the patients with this type of supporting devices