摘要Active exoskeletons have been widely investigated to supplement and restore human hand movements,but a significant limitation is that they have a complicated design requiring multi actuators.Single Degree-Of-Freedom(DOF)planar link-age mechanisms could be used with simple control.This research represents the design and optimization of a mechanism proposed for a finger exoskeleton bionic device.One DOF six-bar linkage Stephenson-Ⅱ is selected,and a motion-generation mechanism synthesis problem is defined.The design is based on the data obtained from the flexion/extension motion of the index finger through 16 precision points and 16 angles for each phalange associated with the fingertip position.After explain-ing the kinematic analysis of the Stephenson-Ⅱ,an evaluation of swarm intelligence techniques,including PSO,GWO,and ARO algorithms for solving optimization problems,is presented.ARO algorithm demonstrates the best performance among them.Moreover,the optimized mechanism in this study has a 50％error reduction compared to the one previously designed(Bataller et al.in Mech Mach Theory 105:3 1-43,2016).