LOW-COST TWO-FINGER LINKAGE-DRIVEN EXOSKELETON FOR HAND REHABILITATION: DESIGN AND PROTOTYPE

Abstract

This study presents the design and prototype of a low-cost, linkage-driven two-finger exoskeleton for hand rehabilitation, aimed at improving motor function in patients with neurological injuries. Using a planar six-bar linkage, laser-cut acrylic parts, and standard servo motors controlled by an Arduino, the device delivers precise finger flexion and extension. Weighing around 100 grams and costing under $50, the prototype demonstrates mechanical reliability and effective control without specialized components. This affordable, simple design offers a promising solution to expand access to robotic-assisted therapy in resource-limited healthcare settings.