A finger exoskeleton robot for finger movement rehabilitation

Tzu Heng Hsu, Yen Cheng Chiang, Wei Tun Chan, Shih Jui Chen

Research output: Contribution to journalArticlepeer-review

10 Scopus citations


In this study, a finger exoskeleton robot has been designed and presented. The prototype device was designed to be worn on the dorsal side of the hand to assist in the movement and rehabilitation of the fingers. The finger exoskeleton is 3D-printed to be low-cost and has a transmission mechanism consisting of rigid serial links which is actuated by a stepper motor. The actuation of the robotic finger is by a sliding motion and mimics the movement of the human finger. To make it possible for the patient to use the rehabilitation device anywhere and anytime, an Arduino™ control board and a speech recognition board were used to allow voice control. As the robotic finger follows the patients voice commands the actual motion is analyzed by Tracker image analysis software. The finger exoskeleton is designed to flex and extend the fingers, and has a rotation range of motion (ROM) of 44.2 .

Original languageEnglish
Article number12
Issue number3
StatePublished - Sep 2017


  • 3D printing
  • Finger exoskeleton robot
  • Rehabilitation


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