This paper introduces the design of an MRI compatible hand exoskeleton for finger rehabilitation. This device not only can use for rehabilitation training after stroke, importantly, it can be used in MRI machine to study the brain activity during rehabilitation therapy (ReT) take place. The mechanics of this robot were designed to be adjustable to different persons’ finger phalanges, and also the gap between one finger to another can be easily changed. By using an ultrasonic motor as its actuator, the device has been designed to be portable, with a high torque output. It enables the client to do extension and flexion rehabilitation exercises in two degrees of freedom (DOF) for each finger. Finally, experiments have been carried out to evaluate the performance of the device.
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