Design and Optimization Study of a Linkage Driven Finger of a Hand Exoskeleton for use in Post Stroke Rehabilitation

Stroke, a leading cause of global disability and death, casts a significant shadow on countless lives. However, when diagnosed early, some recovery is possible through treatment and robotic rehabilitation. In this paper, an exoskeleton design procedure is discussed to design by considering the kinematic analysis of finger moments to assist the patient in physiotherapy and various Activities of Daily Life (ADL). The design consists of a 3 Degree of Freedom (DOF) planar, linkage-driven, optimized, and underactuated serial linkage mechanism. A three-link model has been developed to keep the design lightweight. The kinematic models of the proposed device were derived to study the design feasibility of the finger for the desired motions. The design of the device is based on the results of a multi-objective optimization algorithm that focuses on the workspace reachability.Clinical relevance- The design plan supports clinically prescribed stroke rehabilitation by providing assistance with finger movements. The lightweight device will reduce therapists' workload, paving the way for longer and stronger therapy sessions, leading to quicker recovery.