Exoskeleton Finger Rehabilitation Robot Dynamics Simulation Analysis

摘要

In this paper, an exoskeleton mechanical finger for rehabilitation has been designed. It has two finger knuckles which are driven by two cylinders separately. In the simulation process of ADAMS, the two cylinder driving stems are set different movement speeds and then the two finger-knuckles can be tracked as specific trajectories. The joint force and the torque curve of the exoskeleton mechanical finger at the point of the two knuckles can be got at different cylinder driving speeds.