Design of a Dexterous Three-Fingered Hand Exoskeleton for Stroke Patient Rehabilitation
- Resource Type
- Authors
- Dimapasoc, Brando
- Source
- Dimapasoc, Brando. (2017). Design of a Dexterous Three-Fingered Hand Exoskeleton for Stroke Patient Rehabilitation. UCLA: Mechanical Engineering 0330. Retrieved from: http://www.escholarship.org/uc/item/4mq56366
- Subject
- Exoskeleton
Engineering
Robotics
Mechanical engineering
- Language
- English
Stroke is a leading cause of disability worldwide, and much attention has been focused to technologies to aid in recovery. This thesis details the design of a dexterous hand exoskeleton for use in stroke patient rehabilitation exercises. This device is able to accommodate a wide range of users and can be adjusted to support a number of different grasping motions. The features that allow this versatility are explained. The exoskeleton is actuated through a Bowden cable system and employs an admittance control strategy. The kinematics-based optimization created to design the manipulator links is presented in detail.