Exoskeleton for Upper Limb Rehabilitation (EULR) with 3D printing technology based on force sensor

Area of Science:

• Biomedical Engineering
• Rehabilitation Technology
• Assistive Devices

Background:

• Commercial hand exoskeletons are often inaccessible due to high costs, limiting rehabilitation options for many.
• There is a need for affordable, adaptable assistive devices for hand rehabilitation.
• Neuromuscular disorders require effective and accessible rehabilitation strategies.

Purpose of the Study:

• To design and develop a low-cost, 3D-printed hand exoskeleton with integrated force sensor technology.
• To create an adaptable and personalized rehabilitation solution for individuals with limited income.
• To improve accessibility and affordability in hand rehabilitation devices.

Main Methods:

• Utilized 3D printing for a lightweight exoskeleton structure.
• Integrated mini ESP32 microcontrollers for real-time monitoring of upper limb movements and forces.
• Incorporated a rechargeable LiPo battery and servo motor for enhanced functionality.

Main Results:

• The developed exoskeleton costs approximately $98.4 USD per unit, a significant reduction from commercial alternatives exceeding $1,500 USD.
• Achieved a mean root mean square error (RMSE) of 0.498° ± 0.709° for finger movement tracking, indicating high accuracy.
• Demonstrated good linearity and accuracy in force measurements with a mean linearity error of 0.2292% for the load cell.

Conclusions:

• The low-cost, 3D-printed hand exoskeleton enhances the accessibility of rehabilitation.
• The integration of force sensors provides precise feedback for improved rehabilitation outcomes.
• The open-source design promotes further research, collaboration, and adaptation for diverse patient needs.