Design of a novel finger exoskeleton with a sliding six-bar joint mechanism

The objective of the paper is to propose a novel design of a finger exoskeleton. The merit of the work is that the proposed mechanism is expected to eliminate interference and translational force on a finger. The design consists of 3 identical joint mechanisms which, for each, adopts a six-bar RCM as an equivalent revolute joint incorporating with 2 prismatic joints to form a close-chain structure with a finger joint. Cable and hose transmission is designed to reduce burden from prospective driving modules. As a result, the prototype coherently follows finger movement throughout full range of motion for every size of fingers. This prototype is a part of the research that will be used in hand rehabilitation.