Based on the biological characteristic analysis of human hand

a novel exoskeleton mechanical hand is presented for the rehabilitation of injured fingers after operation. The exoskeleton hand which is developed based on modular design technology could be regulated for adapting to hands with different sizes and drive fingers do flexion and Abduction/adduction motion independently. The device can real-time feedback information of the finger joints during the rehabilitation. It can also provide for a force that is applied perpendicular to the bone of the finger under therapy. This

in turn

causes minimum tissue irritation of the soft tissue surrounding the bone of the finger. The one DOF and two DOF structure type of the driving mechanism were analyzed. A kinematical model for the hand exoskeleton is built. Kinematics and dynamics of the hand exoskeleton are analyzed

and their equations are built. A controller architecture using an ARM processor as the kernel is built based on SPI bus. Finally

dynamics simulation of the hand exoskeleton and flexion rehabilitation experiment of the index finger are done. The results demonstrate that the hand exoskeleton system works reliable and the rehabilitation principles are correct

and the exoskeleton system can satisfy the rehabilitation requirements of the injured fingers.