A power-assisted exoskeleton optimized for pinching and grasping motions

Abstract

Over 450,000 Americans suffer from degenerative muscle diseases characterized by loss of strength and dexterity in the human hand. An assistive hand exoskeleton was designed to amplify residual muscle strength and restore functionality by assisting pinching and grasping motions. The device featured three movable digits: thumb, index, and middle-ring-small (MRS) digit. Adjustable straps wrapped around the exterior of the finger links and secured the user's fingers inside the device. A microcontroller processed force sensing resistor (FSR) data and commanded articulating motors. The exoskeleton was lightweight, flexible, portable and accessible to a wide range of user finger diameters.