Exoskeleton robotic equipment for tenodesis grasp and release training

An exoskeleton robotic equipment for tenodesis grasp and release training, comprising an exoskeleton mechanism adapted to be worn on a forearm and a hand extending from the forearm of a stroke patient, and a control device, wherein

• said exoskeleton mechanism includes a fixing seat adapted to be worn on the forearm, an actuating device mounted to said fixing seat, and a transmission module connected to said fixing seat and pivotally connected to said actuating device, said transmission module including a first grasping member that is adapted to be mounted fixedly to an index finger and a middle finger of the hand, and a second grasping member that is pivotally connected to said first grasping member, that is adapted to be mounted fixedly to a thumb of the hand, and that cooperates with said first grasping member, said fixing seat and said actuating device to form a four-bar linkage mechanism, said actuating device being controlled by said control device to drive said transmission module to move relative to said fixing seat to change said transmission module into a release state such that said first grasping member and said second grasping member pivot away from each other so as to move the index finger and the middle finger away from the thumb, and into a grasp state such that said first grasping member and said second grasping member pivot toward each other so as to move the index finger and the middle finger toward the thumb.