Hand-assistive devices are used to help post-stroke victims encumbered with hand impairments perform activities of daily living (ADL). Unlike robotic rehabilitation devices used in restricted medical conditions for designated periods, hand-assistive devices are designed to be portable and to be used for extended periods by individuals engaging in ADL. Several hand-assistive device designs have been proposed. With these, designers have focused on key elements, such as size, weight, motion profile of the fingers, and generated grip/pinch force. In this paper, we propose a unique compact hand-assistive device (CHAD) that incorporates most of these design parameters, but with less trade-offs. CHAD consists of a single unit worn on the patient’s forearm, which includes all necessary components. It is compact and does not compromise functionality. The novelty of this design can be found in the use of a unique cable-driven mechanism. This mechanism uses dual linear actuators to achieve the flexion of both the index and the middle fingers via the pull of tendon-like structures originating in two selected interphalangeal joints. This permits the numerous necessary sequences in the motion profiles of the digits. The thumb is also made able to flex with a single linear actuator. Finger extensions, in contrast, are achieved passively via adjustable flexible rubber cords joined to the dorsal side of the glove. Experimental results demonstrate that CHAD generates sufficient force and motion profiles for the comfortable execution of ADL. Additionally, CHAD produces a grip and pinch motion profile similar to that of a natural hand and does not force unwanted muscle activities.

手动辅助设备用于帮助患有手部损伤的中风后受害者进行日常生活活动（ADL）。与在受限医疗条件下使用指定时间段的机器人康复设备不同，手动辅助设备被设计为便携式的，并由从事ADL的人员长时间使用。已经提出了几种手助装置的设计。借助这些，设计人员将重点放在关键元素上，例如大小，重量，手指的运动轮廓以及所产生的抓地力/捏力。在本文中，我们提出了一种独特的紧凑型手动辅助装置（CHAD），该装置结合了大多数这些设计参数，但是却权衡利弊。CHAD由戴在患者前臂上的单个单元组成，包括所有必要的组件。它结构紧凑，不影响功能。这种设计的新颖性可以通过使用独特的电缆驱动机构来发现。该机构使用双线性致动器，通过拉动源自两个选定指间关节的肌腱样结构来实现食指和中指的屈曲。这允许在数字的运动曲线中有许多必要的顺序。拇指也可以通过单个线性致动器弯曲。相反，手指延伸是通过可调节的柔性橡胶线被动地实现的，该可调节的橡胶线连接到手套的背侧。实验结果表明，CHAD产生了足够的力和运动曲线，可以舒适地执行ADL。此外，CHAD产生的抓握和捏紧动作类似于自然手，不会强迫肌肉进行不必要的活动。