Rehabilitation medicine studies have indicated that occupational therapy has a positive effect on the recovery of hand function. However, few wearable hand exoskeletons can assist in performing the adduction and abduction exercises of occupational therapy. Therefore, the wearable index finger rehabilitation exoskeleton (WIFRE) is studied in this paper. First, a WIFRE is proposed to realize the index joint’s independent actuation, including adduction and abduction movements. Second, the local/global kinematic and dynamic manipulability measures are proposed and analyzed to evaluate the performance of the WIFRE. The analysis results show that the dimensional parameters of the WIFRE have a significant effect on its global manipulability measures. The global kinematic and dynamic manipulability measures can be improved by 13%–15% compared with the corresponding minimums. Third, a multi-parameter multi-objective optimization method is proposed to simultaneously enhance the three global manipulability measures. Finally, experiments are performed to verify the effectiveness of the index finger exoskeleton and the global manipulability measures.

康复医学研究表明，职业治疗对手功能的恢复有积极作用。然而，很少有可穿戴手外骨骼可以辅助进行职业治疗的内收和外展练习。因此，本文对可穿戴食指康复外骨骼（WIFRE）进行了研究。首先，提出了一种WIFRE来实现索引关节的独立驱动，包括内收和外展运动。其次，提出并分析了局部/全局运动学和动态可操纵性措施，以评估 WIFRE 的性能。分析结果表明，WIFRE 的尺寸参数对其全局可操作性度量有显着影响。与相应的最小值相比，全局运动学和动态可操纵性措施可以提高 13%–15%。第三，提出了一种多参数多目标优化方法，以同时增强三种全局可操纵性措施。最后，进行实验以验证食指外骨骼和全局可操作性措施的有效性。