Configuration design and kinematic analysis of the self-alignment type finger exoskeleton mechanism

摘要

According to the main joint movement of the hand, this paper proposes a single finger mechanism model containing two man-machine closed chain for a hand exoskeleton, which is based on the kinematics model of the hand. In order to increase the man-machine compatibility, one of the human-machine closed chain is the planar five bar mechanism including two human joints and three mechanical revolute joints, which has one degree-of-freedom(DOF), the flexion and extension of each human joint can be realized. Another man-machine closed chain is the spatial six bar mechanism including one human joint, four mechanical revolute joints, and one cylindrical pair, which has two DOF, the flexion/extension and the abduction/adduction movements of human joint can be realized. Two man-machine closed kinematic model are analyzed, and got the finger joint motion position solution. The above study will provide a theoretical basis for further motion planning and control.