Modular Finger Exoskeleton with Underactuated Segments
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Solution Overview
Problem
Current exoskeleton systems for hand rehabilitation are not adequately compliant with the kinematics and anatomy of the human hand, limiting their effectiveness in providing complete range of movements and functionalities, especially for patients with motor impairments due to stroke or orthopedic trauma.
Innovation Solution
A modular exoskeleton device with an underactuated structure comprising a series of articulated rigid elements and motorized means for exerting extension and contraction movements, designed to be worn on the back of the fingers, allowing for independent or simultaneous control of finger movements, including extension, flexion, adduction, and abduction, with adjustable speed and force to accommodate various hand positions and movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional exoskeleton systems are designed to cover complete range of movements, then functionality is improved, but device complexity and encumbrance increase significantly
Solution Approach 1:
The exoskeleton is divided into multiple modular segments corresponding to different finger joints (MCP, PIP, DIP). Each segment can be independently controlled, allowing the system to achieve complete range of movements through coordinated segmentation rather than requiring a single complex mechanism for each finger.
Solution Approach 2:
The exoskeleton design integrates multiple functions into a single device structure that can perform extension, flexion, adduction, and abduction movements across all finger joints simultaneously or independently, reducing overall device complexity while maintaining complete functionality.
2Weight of moving object
If exoskeleton structure is made lightweight and compact, then ease of wear is improved, but ability to provide sufficient force for rehabilitation decreases
Solution Approach 1:
The patent replaces heavy traditional mechanical actuation systems with lightweight electromagnetic actuators (voice coil motors) that provide sufficient rehabilitation force while maintaining minimal weight. The direct electromagnetic force generation eliminates the need for complex mechanical transmission components.
Solution Approach 2:
The exoskeleton utilizes the longitudinal dimension along the finger axis to arrange actuators and transmission elements, rather than adding bulk in lateral dimensions. This allows sufficient force generation capacity while maintaining a compact, lightweight structure that conforms to finger anatomy.
3Ease of operation
If exoskeleton is designed to fit closely to finger anatomy, then comfort and compliance are improved, but manufacturing precision requirements increase
Solution Approach 1:
The exoskeleton employs flexible connection elements and adjustable positioning mechanisms that allow the structure to dynamically adapt to variations in finger anatomy. This reduces the need for high manufacturing precision while maintaining close fit and comfort across different users and finger sizes.
Solution Approach 2:
The design incorporates adjustable geometric parameters (such as link lengths and joint positions) that can be modified to match individual finger measurements. This parametric adaptability allows the exoskeleton to conform to different anatomies without requiring custom manufacturing for each user.
4Measurement precision
If motorized control is added for precise finger movement, then rehabilitation effectiveness is improved, but device complexity and power requirements increase
Solution Approach 1:
The exoskeleton incorporates sensors that automatically detect finger position and movement intent, enabling the control system to autonomously adjust actuation parameters without requiring complex external control interfaces. This self-sensing and self-adjusting capability reduces control system complexity while maintaining precise movement control.
Solution Approach 2:
The system integrates position sensors and force sensors that provide real-time feedback to the control algorithm, enabling precise closed-loop control of finger movements. This feedback mechanism allows simple control logic to achieve high precision by continuously adjusting actuation based on actual system state.
Data Source
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AI summary
Aid device for the movement and/or rehabilitation of one or more fingers of a hand, comprising a exoskeleton or an articulated glove or a wearable mechanism intended to be positioned on the back of at least one finger and to be mechanically constrained to the finger itself and motorized means for exerting a movement or a change in the configuration of said exoskeleton. Said exoskeleton comprises a plurality of rigid elements that are arranged on a row one behind another along a longitudinal axis parallel to the longitudinal extension of the finger and articulated with each other such to make a modular underactuated structure to obtain the maximum shape and kinematic adaptability to the fingers, particularly to follow the extension and flexion movement of the fingers and said motorized means are composed of pulling and/or pushing means that act on one or more of said elements of the exoskeleton such to produce the finger movements and particularly the extension and flexion movements of the fingers.