DEVELOPMENT OF A LOW-COST LINKAGE-DRIVEN TWO-FINGER EXOSKELETON FOR HAND REHABILITATION
Keywords:
Hand Exoskeleton, Rehabilitation Robotics, Physiotherapy, Assistive Devices, Post-Stroke Recovery, Low-Cost Design, Linkage Mechanism, Servo Motor Actuation, Frugal InnovationAbstract
Hand rehabilitation plays a crucial role in restoring motor function in individuals with neurological impairments such as stroke, and robotic-assisted therapy has demonstrated significant therapeutic benefits. However, the practical application of existing hand exoskeletons is limited by high costs and complex designs, particularly in healthcare systems with constrained financial and technical resources. Current research lacks a verified system that provides essential finger mobility through a low-cost, simple, and easily fabricable structure.
This study focuses on the mechanical design and preliminary evaluation of a hand exoskeleton that employs a planar linkage system to guide the index and middle fingers. A detailed CAD model was developed to ensure accurate component dimensions and proper assembly alignment. The prototype was fabricated using laser-cut acrylic linkages, actuated with standard servo motors, and transmitted motion via a bevel gear pair. Control was implemented through an Arduino microcontroller, programmed to drive finger trajectories according to predefined flexion-extension angles.
The design demonstrates mechanical simplicity, with a six-bar linkage system constructed from readily available components forming a precise therapeutic motion unit. The complete prototype weighs approximately 100 grams, with material costs under $50 USD, and requires no specialized parts for assembly. Performance testing confirmed controlled finger flexion and extension, verifying mechanical integrity, actuation reliability, and electronic responsiveness.
These results highlight the potential for a mechanically feasible and economically accessible hand exoskeleton, offering a framework for expanding rehabilitation access in resource-limited settings. The study indicates that affordable robotic mechanisms can reliably facilitate finger mobilization, supporting improved recovery outcomes for patients with hand paralysis or post-stroke motor deficits.
