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Related Experiment Video

Updated: Feb 24, 2026

Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand
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Quantitative evaluation of hand functions using a wearable hand exoskeleton system.

Suin Kim, Jeongsoo Lee, Wookeun Park

    IEEE ... International Conference on Rehabilitation Robotics : [Proceedings]
    |August 18, 2017
    PubMed
    Summary

    Researchers developed a novel hand exoskeleton to quantitatively assess hand motor functions like spasticity and synergy. This robotic system enables precise evaluation of finger movements and forces, advancing rehabilitation therapy research.

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    Area of Science:

    • Rehabilitation Engineering
    • Robotics
    • Biomechanics

    Background:

    • Quantitative evaluation of motor function is crucial for rehabilitation therapy.
    • Existing robotic systems often neglect detailed hand function assessment due to space constraints.
    • Assessing hand functions like spasticity, finger independence, and multi-digit synergy remains challenging.

    Purpose of the Study:

    • To develop a hand exoskeleton for evaluating specific hand functions.
    • To propose algorithms for quantifying hand motor functions.
    • To address the limitations of current robotic systems in hand function analysis.

    Main Methods:

    • Designed and constructed a hand exoskeleton with four 4-bar linkages, two motors, and three load cells per finger.
    • Enabled independent flexion/extension of metacarpophalangeal (MCP) and proximal interphalangeal (PIP) joints.
    • Developed algorithms to measure pulling force at each phalanx for functional evaluation.

    Main Results:

    • The hand exoskeleton successfully facilitated independent MCP and PIP joint movement.
    • Quantitative measurement of pulling forces at each phalanx was achieved.
    • Initial evaluation of hand functions in three healthy subjects was performed.

    Conclusions:

    • The developed hand exoskeleton is a viable tool for quantitative hand function evaluation.
    • The proposed system and algorithms can aid in assessing spasticity, finger independence, and multi-digit synergy.
    • This technology has the potential to improve the observation and effectiveness of rehabilitation therapies.