The Perspectives of Structure and Materials on How to Improve the User Experience of Finger Exoskeleton Robots

Biomedical Engineering Institute, Guangdong Pharmaceutical University, Yunfu, China

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Abstract

Rehabilitation exoskeleton robots play a vital role in assisting patients with impaired hand motor function. This study focuses on improving the user experience of finger exoskeleton robots. Observations during experiments reveal that fingers exhibit horizontal yaw movement during grasping motions, resembling the multi-axial motion of a spherical joint. Inspired by this, an optimized design was proposed that incorporates a spherical hinge at the metacarpophalangeal joint of the finger exoskeleton. This modification enhances flexibility, reduces compressive and frictional forces on the fingers, and improves long-term wearability and rehabilitation outcomes. Using an integrated drive module, rope drive, or remote drive also helps to reduce the overall weight of the finger exoskeleton. Additionally, the use of lightweight and elastic materials is discussed to further enhance comfort and performance. Drawing on multiple literature sources, various novel materials for hand exoskeletons are compared and analyzed. The study concludes that integrating spherical hinges better aligns with natural hand kinematics, significantly improving the usability and effectiveness of rehabilitation robots.