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Individuals with spinal cord injury (SCI) and stroke who is lack ofmanipulation capability have a particular need for robotic hand exoskeletons.Among assistive and rehabilitative medical exoskeletons, there exists a sharptrade-off between device power on the one hand and ergonomics and portabilityon other, devices that provide stronger grasping assistance do so at the costof patient comfort. This paper proposes using fin-ray inspired, cable-drivenfinger orthoses to generate high fingertip forces without the painfulcompressive and shear stresses commonly associated with conventionalcable-drive exoskeletons. With combination cable-driven transmission andsegmented-finger orthoses, the exoskeleton transmitted larger forces andapplied torques discretely to the fingers, leading to strong fingertip forces.A prototype of the finger orthoses and associated cable transmission wasfabricated, and force transmission tests of the prototype in the finger flexionmode demonstrated a 2:1 input-output ratio between cable tension and fingertipforce, with a maximum fingertip force of 22 N. Moreover, the proposed designprovides a comfortable experience for wearers thanks to its lightweight andconformal properties to the hands.

A Soft High Force Hand Exoskeleton for Rehabilitation and Assistance of Spinal Cord Injury and Stroke Individuals