A Systematic Review on Hand Exoskeletons From the Mechatronics Aspect
Houcheng Li, Long Cheng
Abstract
Hand exoskeletons have attracted considerable attention due to their potential to rehabilitate, assist, and enhance human hand movements. However, there is currently no literature that comprehensively outlines the development roadmap of the hand exoskeletons. To better understand and explore the current research landscape and development trends in this field, this article presents a systematic review of hand exoskeletons research from a mechatronics perspective. This systematic review consolidates and critically evaluates the current state of research on hand exoskeletons, focusing on mechanical methodologies, perception systems, interaction strategies, and practical applications. The review highlights key mechanical methodologies, contrasting rigid, flexible, and soft exoskeleton approaches, and examines the ergonomic and actuation considerations crucial for user comfort and functionality. It also evaluates perception systems, such as mechanical sensing, bioelectric sensing, and motion intention recognition, for their roles in capturing user intent and providing real-time feedback. Interaction strategies are discussed, with an emphasis on both passive and active interaction control methods that enhance the intuitiveness and precision of user interaction. Practical applications are explored, including the use of hand exoskeletons in medical rehabilitation, assistive technologies for individuals with disabilities, and haptic feedback for virtual reality and teleoperation. Finally, future research directions, including embodied design, embodied perception, and embodied interaction, are discussed in detail. Overall, this systematic review, from a mechatronics standpoint, underscores the transformative potential of hand exoskeletons across various fields and provides a roadmap for future innovations and research.