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    Design and fabrication of a three dimensional printable non-assembly articulated hand exoskeleton for rehabilitation

    Access Status
    Fulltext not available
    Authors
    Cui, Lei
    Phan, A.
    Allison, Garry
    Date
    2015
    Type
    Conference Paper
    
    Metadata
    Show full item record
    Citation
    Cui, L. and Phan, A. and Allison, G. 2015. Design and fabrication of a three dimensional printable non-assembly articulated hand exoskeleton for rehabilitation, 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 25-29 Aug 2015, pp. 4627-4630.
    Source Title
    2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
    Source Conference
    37th Annual International Conference of the IEEE
    DOI
    10.1109/EMBC.2015.7319425
    ISBN
    978-1-4244-9270-1
    School
    Department of Mechanical Engineering
    URI
    http://hdl.handle.net/20.500.11937/7736
    Collection
    • Curtin Research Publications
    Abstract

    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.

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