Optimum mechanism for rehabilitation of fingers

Nowadays, with the advancement of technology, humans are looking for ways to cure various diseases. Meanwhile, musculoskeletal injuries usually have a long treatment period. Therefore, in recent years, Researchers working one exoskeleton with rehabilitation application which conduct physiotherapy tasks. In current study, a portable two degree of freedom hand exoskeleton is designed which its mechanism is a combination of cable and link mechanism, MCP¹_ joint between metacarpal and proximal phalanges_ joints move by link mechanism, DIP²_ joint between proximal phalanges and middle phalanges_ and PIP³_ joint between middle phalanges and distal phalanges_ joints move by cable mechanism and Pronation movement is considered for thumb. Link mechanisms are designed by optimization method, by comparing the optimization results of different mechanisms. The 4-bar mechanism is the best choice which its maximum error equal to 3.95 degrees.