Abstract
We propose a novel exoskeleton for grasping hand rehabilitation based on anthropometry. The proposed design has one degree of freedom (DOF) for each finger, yielding coordinated movement across the distal interphalangeal (DIP), proximal interphalangeal (PIP), and metacarpophalangeal (MCP) joints for each finger. The dimension of each segment is determined by hand anthropometric data obtained from measurements. Each finger is controlled by one motor to allow for independent movement of each finger, which is fundamental for hand dexterity. The design was guided by a proposed mechanical model (the exo-finger model) which was verified by simulation and validated by the movement recorded by prototype fingers. It is concluded that, in the present study, anthropometry-based structural design provides a framework for the development of exoskeletal robotic devices.