| Summary: | For solving the problem how the hand incapacitation patients do rehabilitation training and daily life easily, an under-actuated exoskeleton hand is designed. Firstly, aiming at the coupling motion between joints, a multi-link and gear transmission system is designed and a single drive to drive the entire finger movement for under-actuation rehabilitation training is achieved by studying the physiological structure of the human hand. Then, the kinematics model of a single finger is established by using analytic method. The four-finger fit grip model is established by the kinematics model of a single finger, and the simulation is carried out. Finally, kinematics simulation analysis and prototype experiment are carried out. Through the comparative analysis of the results, the exoskeleton hand movement realizes the expected motion with reasonable motion and small error.
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