An original hybrid-architecture finger mechanism for wearable hand exoskeletons

• Published in: Mechatronics (Oxford) Vol. 98; p. 103117
• Main Authors: Brogi, Chiara, Secciani, Nicola, Bartalucci, Lorenzo, Di Iorio, Francesco, Meli, Enrico, Rinchi, Mirko, Allotta, Benedetto, Ridolfi, Alessandro
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.04.2024
• Subjects: Assistive robotics; Hand exoskeletons; Hybrid architecture; Wearable robotics; Wearable robotics; Hand exoskeletons; Assistive robotics; Hybrid architecture
• ISSN: 0957-4158; 1873-4006
• DOI: 10.1016/j.mechatronics.2023.103117

Robotic devices for rehabilitation and assistance are becoming crucial tools for improving the life quality of people with disabilities. The hand is one of the most affected upper-limb parts, but also fundamental for the subject’s interaction with the external environment. Wearability and portability, safety and comfort, lightness and small sizes, independent finger movement, efficacy in daily activities, sense-of-touch preservation, and affordability are the main features such devices should have. This paper will present an in-depth study of a thumb module for wearable hand exoskeletons, designed as a base concept to be adapted to the other fingers. Specifically, it exploits a new hybrid architecture (meaning that rigid and soft elements are included in the finger mechanism) to reduce the overall dimensions while remaining effective in force transmission. An embodiment of the mechanism is also presented and tested. As well as turning out to be small, light, and cheap, the new concept design demonstrates a minimum coverage of the finger range of motion of about 84% and an exerted force up to 16.78 N. •An original hybrid (rigid and soft) architecture for finger exoskeletons is presented.•The rigid architecture is optimized to align with the proximal phalanx correctly.•The soft architecture drives the intermediate and distal phalanges synergically.•The proposed architecture can be easily customized and replicated for all the fingers.•The embodiment of the mechanism shows remarkable performance.