Design and fabrication of a three dimensional printable non-assembly articulated hand exoskeleton for rehabilitation
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 re...
| Main Authors: | , , |
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| Format: | Conference Paper |
| Published: |
2015
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| Online Access: | http://hdl.handle.net/20.500.11937/7736 |
| _version_ | 1848745455554396160 |
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| author | Cui, Lei Phan, A. Allison, Garry |
| author_facet | Cui, Lei Phan, A. Allison, Garry |
| author_sort | Cui, Lei |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T06:17:38Z |
| format | Conference Paper |
| id | curtin-20.500.11937-7736 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T06:17:38Z |
| publishDate | 2015 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-77362017-09-13T14:37:00Z Design and fabrication of a three dimensional printable non-assembly articulated hand exoskeleton for rehabilitation Cui, Lei Phan, A. Allison, Garry 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. 2015 Conference Paper http://hdl.handle.net/20.500.11937/7736 10.1109/EMBC.2015.7319425 restricted |
| spellingShingle | Cui, Lei Phan, A. Allison, Garry Design and fabrication of a three dimensional printable non-assembly articulated hand exoskeleton for rehabilitation |
| title | Design and fabrication of a three dimensional printable non-assembly articulated hand exoskeleton for rehabilitation |
| title_full | Design and fabrication of a three dimensional printable non-assembly articulated hand exoskeleton for rehabilitation |
| title_fullStr | Design and fabrication of a three dimensional printable non-assembly articulated hand exoskeleton for rehabilitation |
| title_full_unstemmed | Design and fabrication of a three dimensional printable non-assembly articulated hand exoskeleton for rehabilitation |
| title_short | Design and fabrication of a three dimensional printable non-assembly articulated hand exoskeleton for rehabilitation |
| title_sort | design and fabrication of a three dimensional printable non-assembly articulated hand exoskeleton for rehabilitation |
| url | http://hdl.handle.net/20.500.11937/7736 |