Finger exoskeleton, finger orthosis and method of manufacturing a finger orthosis

A finger exoskeleton comprising

• a) a finger orthosis with
• an actuating member,
• a second phalanx accommodation and
• a third phalanx accommodation,
• wherein the second phalanx accommodation is coupled to the third phalanx accommodation via a constraining guide in such a way that a fixed dependency
• of a relative first pivot angle between the actuating member and the second phalanx accommodation and
• a relative second pivot angle between the second phalanx accommodation and the third phalanx accommodation
• is given, wherein
• the second phalanx accommodation is pivotably linked to the actuating member in a first joint and is freely pivotable relative to the actuating member
• b) and an actuator coupled to the finger orthosis for actuation.

A method of manufacturing a finger orthosis with

• an actuating member,
• a second phalanx accommodation and
• a third phalanx accommodation,
• a holding device for an actuator and
• an actuation joint which pivotably holds the actuating member the holding device
• wherein the second phalanx accommodation is coupled to the third phalanx accommodation via a constraining guide in such a way that a fixed dependency of
• a relative first pivot angle between the actuating member and the second phalanx accommodation and
• a relative second pivot angle between the second phalanx accommodation and the third phalanx accommodation
• is given, wherein
• the second phalanx accommodation is pivotably linked to the actuating member in a first joint and is freely pivotable relative to the actuating member and
• to form the constraining guide the second phalanx accommodation is connected to the third phalanx accommodation via a second joint and a coupling rod is provided, which is articulated to the actuating member at a distance from the first joint in a first coupling rod joint and is articulated to the third phalanx accommodation at a distance from the second joint in a second coupling rod joint,
• the method comprising the following method steps:
• a) determining a proximal scaling factor (PSKF) based on the length (L52) of a first phalanx (52) and determining a distal scaling factor (DSKF) based on the length (L53) of a second phalanx (53);
• b) determining
• the coordinates (xP,24, yP,24) of the actuation joint by converting first standard coordinates (xN,24, yN,24) under consideration of the proximal scaling factor (PSKF)
• the distance (AP,24-18) between the actuation joint and the first joint by converting a first standard distance (AN,24-18) under consideration of the proximal scaling factor (PSKF) and
• the distance (AP,56-18) between a PIP body joint and the first joint by converting a second standard distance (AN,56-18) under consideration of the proximal scaling factor (PSKF);
• c) determining
• the coordinates (xP,21, yP,21) of the first coupling rod joint by converting second standard coordinates (xN,21, yN,21) under consideration of the distal scaling factor (DSKF),
• the distance (AP,19-22) of the second joint from the second coupling rod joint by converting a third standard distance (AN,19-22) under consideration of the distal scaling factor (DSKF) and
• the distance (AP,21-22) of the first coupling rod joint from the second coupling rod joint by converting a fourth standard distance (AN,21-22) under consideration of the distal scaling factor (DSKF),
• or determining the distances (AP) and coordinates (xP, yP) with a maximum deviation of +/−20% from the above given distances (AP) and coordinates (xP, yP).