The spread of the use of robotic devices in neuro-rehabilitation therapies requires the availability of lightweight, easy-to-use, cost-effective and versatile systems. RobHand has been designed with these goals in mind. It is a hand exoskeleton especially suitable for patients suffering from spasticity in the fingers since it is easy to place in the hand and, from an underactuated design, allows both flexion and extension of the fingers. In this work, the structural characteristics, the mechanical design and the development and validation of the kinematic model of the device are presented, all of which has been carried out taking into account the recommendations of the new IEC 80601-2-78 standard, which formalizes the concept of RACA (Rehabilitation, Assessment, Compensation, Alleviation) robot and addresses aspects of efficiency and safety, essential in this type of equipment.

在神经康复治疗中广泛使用机器人设备需要轻量级、易于使用、具有成本效益和多功能的系统。RobHand 的设计考虑了这些目标。它是一种手外骨骼，特别适用于手指痉挛患者，因为它很容易放在手中，并且由于采用欠驱动设计，允许手指弯曲和伸展。在这项工作中，介绍了设备的结构特性、机械设计以及运动学模型的开发和验证，所有这些都是在考虑到新的 IEC 80601-2-78 标准的建议下进行的，其中正式确定 RACA（康复、评估、补偿、缓解）机器人的概念，并解决效率和安全方面的问题，