Hybrid Finger Exoskeleton System for Stroke Rehabilitation

Overview

The rehabilitation of stroke patients with motor impairments has become a global focus, especially in advancing robotic devices for hand therapy. Current hand rehabilitation systems are insufficient in addressing critical challenges such as precise finger control, fine motor coordination, and independent finger movement. Furthermore, exoskeletons pose risks of pain or injury during use. To overcome these limitations, a novel robotic finger exoskeleton system has been designed, specifically targeting the index finger and thumb. This system combines an innovative exoskeleton structure with a versatile user interface, delivering significant improvements in precision, degrees of freedom (DOF), range of motion (ROM), and safety. Key features include a compact Z-shaped structure enabled by an optimized multi-bar serial linkage and specialized palm components to minimize device size, as well as elastic elements to reduce excessive force. The use of hybrid materials—rigid and elastic—maximizes structural integrity while ensuring flexibility. Weighing just 290g, the 3D-printed exoskeleton incorporates six actuators and supports multiple control methods, including a graphical user interface (GUI) via a mobile app, mechanical switches, AI-based voice commands, and computer vision powered by machine learning for semi-autonomous grasping. Experimental validation confirmed the system’s ability to perform all seven DOF movements with precise control over each joint and phalanx during rehabilitation exercises. Practical testing demonstrated the system’s effectiveness in enabling tasks such as grasping, pinching, typing, and touching, achieving over 95% position accuracy and 100% repeatability. These results highlight the system’s potential to significantly enhance rehabilitation outcomes for individuals recovering from strokes or spinal cord injuries.

Competition history

• AJAS 2025 Category not listed

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