The lack of specialized personnel and assistive technology to assist in rehabilitation therapies is one of the challenges facing the health sector today, and it is projected to increase. For researchers and engineers, it represents an opportunity to innovate and develop devices that improve and optimize rehabilitation services for the benefit of society. Among the different types of injuries, hand injuries occur most frequently. These injuries require a rehabilitation process in order for the hand to regain its functionality. This article presents the fabrication and instrumentation of an end-effector prototype, based on a five-bar configuration, for finger rehabilitation that executes a natural flexion-extension movement. The dimensions were obtained through the gradient method optimization and evaluated through Matlab. Experimental tests were carried out to demonstrate the prototype's functionality and the effectiveness of a five-bar mechanism acting in a vertical plane, where gravity influences the mechanism's performance. Position control using fifth-order polynomials with via points was implemented in the joint space. The design of the end-effector was also evaluated by performing a theoretical comparison, calculated as a function of a real flexion-extension trajectory of the fingers and the angle of rotation obtained through an IMU. As a result, controlling the two degrees of freedom of the mechanism at several points of the trajectory assures the end-effector trajectory and therefore the fingers' range of motion, which helps for full patient recovery.

翻译：缺乏专业人员和辅助技术来协助康复治疗是当今医疗领域面临的挑战之一，且预计这一问题将日益加剧。对研究人员和工程师而言，这代表着创新和开发设备以改善和优化康复服务、造福社会的机遇。在各种损伤类型中，手部损伤的发生频率最高。这类损伤需要通过康复过程才能使手部恢复功能。本文介绍了一种基于五连杆构型、用于执行自然屈伸运动的手指康复末端执行器原型的设计制造与仪器集成。机构尺寸通过梯度法优化获得，并利用Matlab进行评估。通过实验测试验证了原型的功能性，以及五连杆机构在垂直平面内运行的有效性——该工作环境中重力会影响机构性能。在关节空间中实现了采用经由点的五阶多项式位置控制。末端执行器的设计还通过理论对比进行了评估，该评估基于实际手指屈伸轨迹与通过惯性测量单元（IMU）获取的旋转角度的函数关系计算得出。结果表明，在轨迹多个点控制机构的两个自由度能够确保末端执行器轨迹，从而保障手指运动范围，这有助于患者实现完全康复。