摘要In this paper,the finger muscular forces were estimated and analyzed through the application of inverse dynamics-based static optimization,and a hand exoskeleton system was designed to pull the fingers and measure the dynamics of the hand.To solve the static optimization,a muscular model of the hand flexors was derived.The experimental protocol was devised to analyze finger flexors in order to evaluate spasticity of the clenched fingers;muscular forces were estimated while the flexed fingers were extended by the exoskeleton with external loads applied.To measure the finger joint angles,the hand exoskeleton system was designed using four-bar linkage structure and potentiometers.In addition,the external loads to the fingertips were generated by cable driven actuators and simultaneously measured by loadcells which were located at each phalanx.The experiments were performed with a normal person and the muscular forces estimation results were discussed with reference to the physical phenomena.