Design of exoskeleton robotic hand/arm system for upper limbs rehabilitation considering mobility and portability

In this paper, a light wearable robotic hand/arm system is proposed for patients to whom hand or arm rehabilitation training is conducive for the recovery. It is lighter and more comfortable to get a patient equipped with than currently available aids so that one can make a move more easily. The elbow module is consists of a joint, exoskeleton supporting frames and a hydro-pneumatic actuating module, which is including a moving cylinder, micro compressor and controller. Lightweight and high-powered linear actuators (stroke 25mm, thrust 3kg) are utilized for hand movement. Torsion spring I mounted on the each finger joints in order to support the frames and give assisting force. Each finger is driven by steel wire tendon supported by lightweight pulleys to keep the wire on its own path.