Development and control of a hand exoskeleton for rehabilitation of hand injuries

Hand injuries are a frequent problem. The great amount of hand injuries is not only a problem for the affected people but economic consequences follow because rehabilitation takes a long time. Physical therapy after an operation is associated with high personnel expenses. To improve therapy results and reduce cost of rehabilitation a hand exoskeleton was developed. The hand exoskeleton was specifically designed to accomplish requirements of medical applications. For research on control algorithms and rehabilitation programs a prototype supporting all four degrees of freedom of one finger was build (s. Figure 1). The device can be easily attached and also be adjusted to deformed and scarred hands. In view of the fact that a lot of hand injuries affect only one finger, this prototype could already be functional in physical therapy. This paper presents the construction and the control system of the hand exoskeleton and possible applications in therapy of hand injuries. For the position control a PID controller was implemented and evaluated. The resulting control system allows following of recorded trajectories with sufficient accuracy.