手部外骨骼运动相容性设计综述

The design arts and status of hand exoskeletons are analyzed and reviewed from the perspective of human-robot kinematic compatibility. Firstly, the main existing hand kinematic models are introduced on the basis of the analyses of the hand anatomical structure and hand joint kinematics. Secondly, according to the design methods to realize the human-robot kinematic compatibility, the hand exoskeletons are divided into three classifies including the joint axis-alignment hand exoskeletons, the joint axis self-adaptive hand exoskeletons, and the compliance glove hand exoskeletons. Moreover, the design characteristics of the typical hand exoskeletons are also briefly analyzed. Finally, the influences of the kinematic difference between human and robot joints, the individual difference and wearing offset on the human-robot kinematic compatibility are analyzed, on which the main issues in the design of hand exoskeletons and the future research are discussed and prospected.