Self-reconfiguration Method of an Intelligent Multi-mode Linkage Finger Based on Quantitative Reconstruction of Center Point

Long-term effective rehabilitation training is crucial for assisting patients with hand function disorders caused by neurological damage to recover and improve their abilities in daily life. Hand rehabilitation exoskeletons are effective rehabilitation aids for hand function, which can assist patients in repetitive rehabilitation training. However, the current single degree-of-freedom hand exoskeleton has a limited range of motion training modes, making it difficult to effectively improve rehabilitation outcomes. Here, we propose a method based on the secondary design of the center point of the link mechanism, to achieve the multi-motion mode design of single degree-of-freedom linkage exoskeleton mechanism. By conducting a loop analysis of the Stephenson-II six-bar linkage, the position of the center point was optimized for the second motion mode of the linkage within the design domain, resulting in the second configuration of the six-bar linkage. The Stephenson-II six-bar linkage exoskeleton mechanism obtained through optimization method can achieve rehabilitation training for two motion modes of the hand. The motion simulation experiment demonstrated that the second motion mode of the link exoskeleton has a high degree of fit with the motion mode of the human hand. The optimization method provides novel insights into the multi-mode self-reconfiguration design of intelligent robots.