A Design of Hand Rehabilitation Exoskeleton Mechanism Adapted to Different Finger Lengths Stroke can cause the neurological function of the brain hemisphere or brain stem to be blocked, which in turn causes partial loss of function of the hands and feet. This paper presents a hand rehabilitation exoskeleton mechanism with an adjusted locking device to adapt to different finger lengths. The biological characteristics of the finger are analyzed to obtain the motion parameters of the finger. The presented mechanism is optimized for its rod length by the fgoalattain function optimization method. This is done for the exoskeleton mechanism could drive the finger to reach the ideal bending angle. A proofofconcept plastic prototype was fabricated, and the experimental results demonstrates the potential of this mechanism.

Design of Finger Bending Angle Detection System and FES System Based on Finger & Wrist Rehabilitation Robot At present, in the China, the incidence of stroke hemiplegia in the elderly population is relatively high and still on the rise. Therefore, rehabilitation treatment for hemiplegia in the elderly is particularly important. However, the traditional rehabilitation treatment focuses on the functional training of the patientu0027s wrist and finger joints, ignoring the importance of neurological rehabilitation in the early hemiplegia stage. In this paper, On the basis of the traditional rehabilitation of finger movement function, we added the rehabilitation training of wrist joint. a new type of wrist and knuckle rehabilitation robot is proposed, The finger bending angle detection system and the FES(Functional Electrical Stimulation) system are built. The bending angle data detected by the bending angle data glove is used to control the FES functional power of the other finger. The bending Angle data of the fingers on the healthy side were detected by using the bending Angle data glove. To control the stimulation intensity of the FES functional electrical stimulation device of the finger on the affected side, So as to control the intensity of muscle contraction and the Angle of finger bending.