Abstract
We present the design and validation of a low-cost, customizable and 3D-printed anthropomorphic soft robotic hand exoskeleton for rehabilitation of hand injuries using remotely administered physical therapy regimens. The design builds upon previous work done on cable actuated exoskeleton designs by implementing the same kinematic functionality, but with the focus shifted to ease of assembly and cost effectiveness as to allow patients and physicians to manufacture and assemble the hardware necessary to implement treatment. The exoskeleton was constructed solely from 3D-printed and widely available off-the-shelf components. Control of the actuators was realized using an Arduino microcontroller, with a custom-designed shield to facilitate ease of wiring. Tests were conducted to verify that the range of motion of the digits and the forces exerted at the fingertip coincided with those of a healthy human hand.
Highlights
In the United States, more than 795,000 people are affected by a stroke annually [1,2,3]
Tests were conducted to verify that the range of motion of the digits and the forces exerted at the fingertip coincided with those of a healthy human hand
Tests of the soft robotic exoskeleton were conducted to verify that the range of motion of the digits and the forces exerted at the fingertip coincide with those of a healthy human hand
Summary
In the United States, more than 795,000 people are affected by a stroke annually [1,2,3]. Many more patients lose hand–motor function due to certain cancers [5,6], various neuromuscular disorders and injuries [7,8]. Hand–motor function impairment has a profound effect on the affected person’s ability to perform even the most fundamental daily tasks [9,10,11]. The standard rehabilitation process requires patients to perform a repetitive exercise routine in order to regain some of the previous motor functions [15,16]. These therapy regimens involve a large amount of patient–therapist interaction time, substantially raising the cost of treatment
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