In this study an exoskeleton is designed for hand in therapeutic rehabilitation. The mechanical design is manufactured in consideration of anthropometrical measurements of the hand studied from literature. Kinematic model of the hand exoskeleton was obtained by results of position, velocity and torque-moment analysis.
The exoskeleton has a single degree of freedom (DOF) for the PIP and MCP joints. Basic four-bar linkage mechanisms are used in the exoskeleton. With this design, while movements (flexion and extension) occurs in both joints at the same time, angular displacement come out as in healthy hands. Linkage lengths are optimized to achieve the targeted angular dynamics. The manipulation of the exoskeleton is actuated by a linear