A human hand compatible optimised exoskeleton system

This paper proposes a novel design of a hand exoskeleton System. The optimisation of the exoskeleton device (link lengths, actuation) was achieved through the procedure targeting the natural finger workspace and capabilities. To define the design requirements of the hand exoskeleton device, an analysis of the hand daily life common activities has been carried out. Range of motion, maximum and average force levels exerted by human hands of different sizes and various age groups have been measured using appropriate instrumentation. Results of these experiments mapped directly to the mechanical design of the system. An under-actuated optimum mechanism has been proposed. A rapid prototype of the proposed design has been realized to analyze and demonstrate the mechanism and to verify the optimisation results. Results have shown that the hand exoskeleton system covers the complete range of motion of a natural human hand.