Hand/Finger Rehabilitation device using body Ergonomics for physiotherapy

Need to do a device which helps a stroke patient to do extension and flexion. This prototype design, in particular, can help with grabbing and releasing actions while also allowing the individual to feel actual objects during therapy. The open surface area of the palm and fingers is also increased to ensure that the individual gets tactile sense of the gripped object.
It must consider for the range of motion (rom) and degrees of freedom (dof) of each joint in the hand. Excluding the thumb, each finger has three joints and four bones: metacarpophalangeal (mcp), proximal interphalangeal (pip), and distal interphalangeal (dip); and the bone of fingers are metacarpals, proximal phalanx, middle phalanx, and distal phalanx while the thumb is made up of two joints, metacarpophalangeal (mcp) and interphalangeal (ip). The design is a 3-degrees-of-freedom (3-dof) mechanism that allows the fingers, thumb, and wrist to rotate, where it lets the four fingers to move as a single unit around the metacarpophalangeal (mcp) joint, with a range of motion (rom) of about 0 to 85 degrees of flexion.
In addition allows thumb movement out of the plane of the palm and fingers with an approximate rom of 90% full extension to 75% of full flexion and permits wrist flexion-extension movement with a rom of approximately 20 degrees extension to 15 degrees flexion. For finger extension and flexion, the prototype used a semi-automatic cable driven mechanism. Two 25 groups of wire; the upper and lower are used to move the finger While pulling the lower cable, the fingers move inward or bend, and when tightening the top cable, the fingers return to their usual position.
This project, servomotor was selected as the actuating system. The cables were tied and locked to the aluminium plate located at the top of the rotating motor shaft. The extension and flexion movements are performed by the semi-automatic cables, which are controlled by the rotating motor.
The grasping forces required to manipulate objects that are encountered during daily living do not exceed 10 to 15N.