부산대학교 도서관

Degenerative muscle diseases characterized by loss of strength and dexterity in the human hand significantly affect the physical, emotional, and social well-being of affected individuals. An assistive hand exoskeleton was designed to amplify residual muscle strength and improve functionality by assisting pinching and grasping motions. The device featured three movable finger components: thumb, index, and middle-ring-small (MRS). The exoskeleton and support structures were 3D printed using ABS thermoplastic. Feedback from embedded flex sensors and a force-sensing resistor were analyzed by a microcontroller, which individually commanded three linear electrical actuators. Actuators produced flexion through a cable-driven system, where monofilament polymer cables on the palmar side of the fingers, simulating the tendons of the human hand. The exoskeleton was lightweight, portable, and customizable.