I present the design, implementation and control of a novel, linkage-based, underactuated hand exoskeleton aimed to assist patients with hand disabilities during grasping tasks for robot assisted physical rehabilitation or robot assisted activities of daily living. Even though the proposed exoskeleton was designed with the purpose of assisting users during interactions with real objects around them, its use can be extended for haptic applications as well. In this thesis, I will deeply mention the exoskeletons in the literature, detail the design decisions and implement various control strategies to use this exoskeleton for different applications in the future.

中文翻译：

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欠驱动手外骨骼的设计、实现和控制

我介绍了一种新型的、基于连杆的、欠驱动的手外骨骼的设计、实施和控制，旨在帮助手部残疾患者在机器人辅助身体康复或机器人辅助日常生活活动的抓取任务中。尽管所提出的外骨骼的设计目的是在用户与周围真实物体的交互过程中为用户提供帮助，但它的用途也可以扩展到触觉应用程序。在本论文中，我将深入提及文献中的外骨骼，详细介绍设计决策并实施各种控制策略，以便在未来将这种外骨骼用于不同的应用。