System design of a novel active wearable finger rehabilitation robot

In this paper, a system for a hand rehabilitation robot is proposed. In order to simplify the mechanical structure, the exoskeleton linkage structure with just one degrees of freedom(DOF) was designed, which was inspired by the muscular skeletal structure of the finger. Use the electromyography(EMG) to control hand rehabilitation robot to achieve active drive. The performance of robot hand was verified by 3 groups of contrast experiments. Future research will focus on the mechanism of adaptive adjustment and control system optimization.