Electro-Mechanical Design Toward an Open-Sourced Robotic Hand Exoskeleton for Management of Neurological and Neurodegenerative Disorders

Abstract

Impaired hand motor function degrades performance of activities of daily living (ADL). Exoskeleton devices can assist hand function for ADL, but the associated cost and complexity limit access for many individuals who would otherwise benefit and impedes development for improved devices. A simpler, but functional, open-source design for a hand assistive exoskeleton might expand accessibility and accelerate development. In this paper, we present an electromechanical prototype of a hand exoskeleton that was designed, implemented, and tested for digit extension and flexing. The design and prototype assisted actuation of an individual finger digit using a sliding spring mechanism. The mechanism is a type of underactuated mechanism that converts one degree of freedom linear motion into rotational motion. The resulting prototype was subjected to motion and force testing, with results supporting certain functional aspects of the system. Further development and testing need to be done for the proposed exoskeleton design, especially as an open-source design. Being open-source would widen access, accelerate development, and improve the quality of life for many individuals.