h. zohoor

Nowadays, with increasing the injuries to the hand, specially fingers, because of saving in time and money, wearable robots are so practical to use in order to rehabilitate the injured part of the body. This exoskeleton is designed to rehabilitate the thumb to do the opposition movement, which is one DOF (degree of freedom) and a passive type with the cable mechanism. These cables are placed by two drums, one on the thumb and the other on the tip of the assistive finger, and have a cable adjusting screw that can be adjusted for fingers of different lengths. To choose the assistive finger from 4 intact fingers, the two perspectives of the cable length changes and finger forces are compared. Finally, with the help of these comparisons, the middle finger was selected as the assistive finger. Furthermore, by safety factor of 36.78, the cable traction forces do not harm the fingers' joins. The most angle difference between thumb and middle is at the 140 degrees angle, at the third joint, the performance of the thumb is better, due to the least angle difference.