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Design and Research of Multi Segment Exoskeleton Reconfigurable Soft Finger Actuator
Zhilin Zhang1,2,3,4,5, Aldrin D Calderon2,3, Junliang Lai1
1School of Physics and Telecommunications Engineering, Yulin Normal University, Yulin, People's Republic of China.
Medical Devices (Auckland, N.Z.)
|March 30, 2026
Summary
A novel soft finger exoskeleton actuator offers improved rehabilitation for stroke patients. This multi-segment device enhances bending range and force output, enabling better daily grasping and personalized therapy.
Area of Science:
- Robotics
- Biomedical Engineering
- Rehabilitation Technology
Background:
- Increasing prevalence of hand dysfunction post-stroke necessitates advanced rehabilitation solutions.
- Existing soft finger actuators often suffer from irregular deformation, low force, and lack of segmented control.
Purpose of the Study:
- To develop a multi-segment soft finger exoskeleton actuator addressing limitations of current devices.
- To improve rehabilitation outcomes for patients with hand dysfunction.
Main Methods:
- Proposed a multi-segment exoskeleton design with separated actuation and load-bearing functions.
- Utilized the principle of virtual work and the Yeoh constitutive model to derive the pressure-to-angle transfer function.
- Established the overall equation of motion for the actuator.
Main Results:
- Finite element analysis and experimental tests confirmed prevention of irregular deformation and high rigidity.
- Achieved segmented control capability.
- Demonstrated a maximum bending angle of 338.7° and a maximum driving force of 11.50 N, a 25.27% increase over prior studies.
Conclusions:
- The proposed soft finger exoskeleton actuator shows significant advantages in bending range and force output.
- Enhanced performance facilitates daily grasping tasks and personalized rehabilitation.
- This innovation promises improved hand function recovery for stroke patients.
