A Robotic Exoskeleton Assistive Device: Design and Kinematic Analysis of a Hand Exoskeleton for Assistance

Abstract

Addressing the challenges faced by individuals with motor disabilities, which impedes ease in movement, coordination, or sensation, a low-weight hand exoskeleton was developed considering accessibility, low cost, adaptability, and mass manufacturing to overcome the impact of hand functioning disorders on people's physical and social well-being. In this paper, a 12-DOF Hand exoskeleton consisting of a 6-DOF Arm and 6-DOF finger exoskeleton was designed and later its kinematic analysis was performed. By taking into consideration the constraints provided by the exoskeleton to human hand motion, the Forward kinematics, using Denavit- Hartenberg (D-H) parameters were conducted to determine its workspace.