Design and fabrication of a three dimensional printable non-assembly articulated hand exoskeleton for rehabilitation

Lei Cui, Anthony Phan, Garry Allison

Research output: Chapter in Book/Conference paperConference paper

15 Citations (Scopus)

Abstract

Robotic rehabilitation has proven to be cost-effective in accelerating the rehabilitation process by eliminating the constant need for supervision by a therapist. This work aimed to design and develop a novel three-dimensional (3D) printable non-assembly five-fingered robotic hand exoskeleton for rehabilitation. A single degree-of-freedom (DOF) linkage was designed to actuate each finger with 3 output links that correspond to the three phalanxes of the human finger. We used a parametric modelling approach that suits the dimensions of individual's hand. The fabrication of this dynamic model was achieved by printing the complete assembly including all the driving links, output links, and joints. We manufactured a prototype and developed real-time actuation and control. The reported unique linkage design, combined with parametric modelling and 3D printing technology, will pave the way for mass customization of active assistive and resistive hand exoskeletons.

Original languageEnglish
Title of host publicationProceedings of the 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
EditorsSergio Cerutti, Paolo Bonato
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages4627-4630
Number of pages4
ISBN (Print)9781424492701
DOIs
Publication statusPublished - Aug 2015
Externally publishedYes
Event37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015 - Milan, Italy
Duration: 25 Aug 201529 Aug 2015

Conference

Conference37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015
CountryItaly
CityMilan
Period25/08/1529/08/15

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  • Cite this

    Cui, L., Phan, A., & Allison, G. (2015). Design and fabrication of a three dimensional printable non-assembly articulated hand exoskeleton for rehabilitation. In S. Cerutti, & P. Bonato (Eds.), Proceedings of the 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (pp. 4627-4630). IEEE, Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/EMBC.2015.7319425