Research Progress of Exoskeleton for Hand Rehabilitation following stroke

Based on the hand rehabilitation exoskeleton, the research results of three driving modes in recent years, namely cable, connecting rod and pneumatic system, were classified, summarized and analyzed. Through research and analysis, the results of structural dimensions, structural degrees of freedom, drive selection scheme, control strategy and sensor selection scheme which are more suitable for human hand rehabilitation exoskeleton are obtained, which can provide reference for exoskeleton researchers.