A Real-Time Force-Displacement Detection and Evaluation System for Wearable Hand Exoskeleton Based on Multi-sensors

The real-time accurate judgment of force and angular displacement is the basis of controlling for wearable hand rehabilitation robot. This paper puts forward to and set up a kind of real-time detection system of force and the angular displacement, which includes an elastic pressure glove and three thin film pressure sensors and three angular displacement sensors. And the system can accurately detect the pressure on the knuckles of the thumb and forefinger and middle finger, at the meantime three angular displacements of IP of the thumb and the PIP of the index finger and middle finger during hand rehabilitation training. Finally, the motion of the hand can be assessed and the curative effect of rehabilitation treatment can be judged objectively. So this study could provide the basis for the selection of appropriate treatment technology and the hand display technology and other ways to reduce the limited range of motion (ROM).