Case Study and Preliminary Validation of a Parametric, Three-Dimensional Printable Tendon-Driven Biomimetic Hand Exoskeleton

Journal of Mechanisms and Robotics, vol. 17

Abstract

Abstract Portable hand exoskeletons are reaching homes, providing daily assistance to people with hand impairments and enhancing their quality of life. Their design, however, is rarely based on the biomimetics of human finger kinematics, missing the benefits of anatomical tendon pulley-based actuation, such as natural and comfortable movement with efficient force transmission. We present a case study of a portable biomimetic hand exoskeleton system for assistance in grasping and rehabilitation. Components of the exoskeleton are parameterized via computer-aided design (CAD) using human hand dimensions measured at selective locations facilitating easy customization. Easy-to-use voice and manual button input strategies control the exoskeleton. A biomimetic flexor system with passive extension is used. A stiffness adjuster mechanism is provided at a metacarpophalangeal (MCP) joint to make suitable adjustments to the extension force. We evaluate the system with a hemiparetic subject with low grip strength poststroke that occurred a decade ago, showing promising results of high contact forces when grasping a variety of objects. This lightweight exoskeleton could be helpful for people finding difficulties in grasping related activities of daily living due to neurological conditions and/or aging.

Authors 3

1. Vitthal Khatik

   Indian Institute of Technology Kanpur

   Affiliation as printed

   Indian Institute of Technology Kanpur Department of Mechanical Engineering, , ,

   Faculty Building 361 Indian Institute of Technology Kanpur Kanpur, Uttar Pradesh 208016 India

2. Burkhard J. Corves Aachen Institute of Mechanism Theory

   RWTH Aachen University

   Affiliation as printed

   IGMR, RWTH University Mechanical Engineering, , ,

   Inst. of Mechanism Theory, Machine Dynamics and Robotics Eilfschronstein Strasse 18 Aachen, NRW 52062 Germany

3. Anupam Saxena

   Indian Institute of Technology Kanpur

   Affiliation as printed

   Indian Institute of Technology Kanpur Professor Department of Mechanical Engineering, , ,

   Faculty Building 361, Indian Institute of Technology Kanpur Kanpur, 208016 India