Five-digit assistive exoskeleton for the human hand

Abstract

The purpose of this project was to optimize an existing design of a five-fingered powered orthotic exoskeleton hand that augments griping and pinching. The flexibility of the wrist and finger structures were improved, and the alignment of the motors and circuitry was changed to minimize space utilization. In order to allow a more natural movement of the exoskeleton digits, a newly designed artificial tendon system was implemented. The integration of sensors, motors, and mini-computer hardware was also optimized for better space utilization. Device performance was verified using strength testing experiments of maximum grip and pinch strength. Preliminary results indicate improved device performance.