project specification

Maestro Hand Exoskeleton

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:

Overview

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:

  • an underlying kinematic mechanism that is optimized to achieve a large range of motion
  • a design that actuates four degrees of freedom of the thumb
  • a series elastic actuation based on a Bowden cable, allowing for bidirectional torque control of each thumb joint individually.

Specifications

  • 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;
  • Full active range of abduction–adduction motion at the CMC joint while maintaining the position of the other joint angles;
  • Full active range of flexion–extension and abduction–adduction motion in a circular pattern at the CMC joint;
  • Full active range of flexion–extension motion at the MCP and IP joint while maintaining the position of the other joints.

References

Priyanshu Agarwal, Youngmok Yun, Jonas Fox, Kaci Madden, Ashish D Deshpande