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Related Experiment Video

Updated: Jul 9, 2026

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Published on: August 2, 2016

A fabric-based soft hand exoskeleton for assistance: the ExHand Exoskeleton.

Juan C Maldonado-Mejía^1,2, Marcela Múnera^2,3, Camilo A R Diaz¹

¹Telecommunications Laboratory (LabTel), Electrical Engineering Department, Federal University of Espírito Santo (UFES), Vitória, Brazil.

Frontiers in Neurorobotics

|July 3, 2023

Summary

This study validates a fabric-based soft hand exoskeleton for assisting daily living activities. The ExHand Exoskeleton demonstrated high performance in grasping diverse objects, showing its potential for rehabilitation and daily assistance.

Keywords:

activities of daily living assistive technologies hand exoskeleton soft actuators soft robotics

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Last Updated: Jul 9, 2026

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Published on: August 2, 2016

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Published on: May 20, 2020

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Author Spotlight: Enhancing Grasping Abilities for Hemiplegic Patients with Flexible Robotic Limbs

Published on: October 27, 2023

Area of Science:

Soft robotics
Rehabilitation robotics
Human-robot interaction

Background:

Soft robotics and textile-based pneumatic actuation are advancing hand exoskeletons for activities of daily living (ADL).
Existing devices show potential but require thorough evaluation of grasping capabilities with various objects.
Stable object manipulation is crucial for successful ADL assistance.

Purpose of the Study:

To develop and experimentally validate a fabric-based soft hand exoskeleton.
To assess the exoskeleton's grasping performance across diverse objects and ADLs.
To evaluate user satisfaction with the device.

Main Methods:

Developed a fabric-based soft hand exoskeleton (ExHand Exoskeleton).
Utilized The Anthropomorphic Hand Assessment Protocol (AHAP) with 24 objects and 8 grasp types.
Conducted tests with 10 healthy users and administered a user satisfaction questionnaire.

Main Results:

The ExHand Exoskeleton achieved a Maintaining Score of 95.76% ± 2.90%, demonstrating stable contact with various objects.
The device successfully assisted in performing the eight grasp types evaluated by the AHAP.
User satisfaction was high, with a mean score of 4.27 ± 0.34 out of 5.

Conclusions:

The fabric-based soft hand exoskeleton effectively grasps a variety of objects, supporting ADLs.
The ExHand Exoskeleton shows promise for both rehabilitation and daily living assistance.
Positive user feedback indicates the device's potential for practical application.