Design of a Rope-Driven Finger Exoskeleton System with a Universal Double Grooved Roller for Adaptive Rehabilitation.

Area of Science:

• Rehabilitation Engineering
• Biomechanics
• Robotics

Background:

• Neurological conditions like stroke significantly impair hand function, necessitating effective rehabilitation tools.
• Existing rope-driven exoskeletons face challenges with traction cord slippage due to inconsistent changes during finger movement.
• This limits the accuracy and effectiveness of current assistive devices for daily tasks.

Purpose of the Study:

• To design and evaluate a rope-driven exoskeleton system with a universal double grooved roller for assisting finger movement.
• To address the limitations of existing designs, specifically traction cord slack and slippage.
• To enhance the universality and reliability of hand rehabilitation exoskeletons.

Main Methods:

• Statistical analysis of 40 groups of index finger flexion/extension and stretching movements to determine optimal double grooved roller ratios.
• Development of a novel rope-driven exoskeleton system incorporating the universal double grooved roller design.
• Experimental testing of the exoskeleton's finger-driving capability, range of motion, and success rate across diverse subjects.

Main Results:

• The exoskeleton achieved a range of motion up to 94% of unassisted natural finger movement.
• Stable performance was observed during repetitive movement tests.
• A 100% finger-driving success rate was recorded for seven subjects with varying finger sizes.

Conclusions:

• The developed rope-driven exoskeleton system demonstrates feasibility, reliability, and universality for hand rehabilitation.
• The universal double grooved roller design effectively mitigates traction cord slippage issues.
• This innovative system presents a promising new solution for adaptive hand rehabilitation after neurological injury.