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    This study presents a lightweight, portable hand exoskeleton to aid grasping for individuals with hand dysfunction. The flexible device, weighing only 73g, assists in daily tasks and rehabilitation by enhancing grip strength.

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    Area of Science:

    • Robotics
    • Biomedical Engineering
    • Rehabilitation Technology

    Background:

    • Hand exoskeletons aim to assist individuals with hand dysfunction in daily activities and rehabilitation.
    • Current designs face challenges in weight, portability, and preserving tactile sensation.
    • A need exists for a more user-friendly and effective hand exoskeleton solution.

    Purpose of the Study:

    • To develop and evaluate a lightweight, portable, and flexible hand exoskeleton for grasping assistance.
    • To minimize constraints on the ventral side of the hand to leverage natural tactile sensation and friction.
    • To assess the exoskeleton's performance in assisting with grasping common objects.

    Main Methods:

    • Designed a 3D-printed compliant mechanism with anisotropic flexibility.
    • Integrated a tendon-based rack and pinion system driven by a small motor for finger flexion.
    • Minimized ventral restraint to preserve tactile feedback and friction.
    • Measured grip forces and conducted pick-and-place tests with healthy participants.

    Main Results:

    • The exoskeleton is lightweight (73g for exoskeleton, 177g total) and portable.
    • Achieved grip forces of 2.39 N (power grip) and 1.80 N (pincer grip).
    • Successfully assisted in grasping objects up to 200g, including daily necessities like bottles and plates.

    Conclusions:

    • The developed flexible hand exoskeleton is lightweight and portable, demonstrating potential for daily use.
    • The design effectively assists grasping tasks while preserving tactile sensation.
    • This technology offers a promising solution for individuals requiring hand function assistance in daily life and rehabilitation.