A hand exoskeleton robot for rehabilitation using a three-layered sliding spring mechanism

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In this study, a hand exoskeleton robot for rehabilitation using a
three-layered sliding spring mechanism is presented. The advantage of
the proposed mechanism compared to previously presented studies, is
compact, light weight and high output force due to the compliant
structure using the layered springs. In this paper, we introduce the
mechanical structure of the proposed mechanism.
The first prototype was built actuating four fingers except thumb,
using a single linear motor.The output force of each finger is
currently limited up to 3 N and expected to be increased.
The weight of prototype is approximately 300 g including motor.