An exoskeleton capable of assisting the human thumb through a large range of various motions by utilizing a series of elastic actuators.

A kinematic mechanism of the thumb exoskeleton to help stroke victims in rehabilitation and is kinematically compatible with the human thumb. The thumb exoskeleton has the following unique features: 

Maestro Hand Exoskeleton

<p>A kinematic mechanism of the thumb exoskeleton to help stroke victims in rehabilitation and is kinematically compatible with the human thumb. The thumb exoskeleton has the following unique features:</p><ul><li>an underlying kinematic mechanism that is optimized to achieve a large range of motion</li><li>a design that actuates four degrees of freedom of the thumb</li><li>a series elastic actuation based on a Bowden cable, allowing for bidirectional torque control of each thumb joint individually.</li></ul><h3><strong>Specifications</strong></h3><ul><li>CMC, MCP, and IP joint articulation through the full active range of motion in flexion and extension, while maintaining the abduction–adduction angle at the CMC joint;</li><li>Full active range of abduction–adduction motion at the CMC joint while maintaining the position of the other joint angles;</li><li>Full active range of flexion–extension and abduction–adduction motion in a circular pattern at the CMC joint;</li><li>Full active range of flexion–extension motion at the MCP and IP joint while maintaining the position of the other joints.</li></ul>

Design, control, and testing of a thumb exoskeleton with series elastic actuation

An exoskeleton capable of assisting the human thumb through a large range of various motions by utilizing a series of elastic actuators.