Structural Analysis and Control Optimization of Finger Exoskeleton Design Modeling

Abstract

With the increasing incidence of hand dysfunction caused by stroke, spinal cord injury, and other conditions, finger exoskeletons have emerged as a critical technology in rehabilitation medicine, assistive technology, and human-computer interaction. This paper reviews the structural analysis and control optimization of finger exoskeleton design and modeling. It first elaborates on their application significance in aiding functional recovery for patients, assisting daily activities for people with disabilities, and enhancing human-machine interaction efficiency, while highlighting core challenges such as biomechanical compatibility, motion precision, and control efficiency. Then, it analyzes structural design aspects including mechanical architectures (rigid, soft-rigid hybrid, modular adjustable) and key considerations like biomechanical constraints and wearability. It also discusses control optimization strategies such as trajectory planning, force control, and impedance control. Finally, it identifies current limitations in structure, compatibility, and algorithms, and prospects future directions like sensor network integration and bionic design. This review offers valuable insights to promote the technical advancement and practical application of finger exoskeletons.