Full Content is available to subscribers

Subscribe/Learn More  >

Design and Optimization of a Flexion/Extension Mechanism for a Hand Exoskeleton System

[+] Author Affiliations
Matteo Bianchi, Francesco Buonamici, Rocco Furferi, Niccolò Vanni

University of Florence, Florence, Italy

Paper No. DETC2016-59466, pp. V01AT02A010; 7 pages
  • ASME 2016 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 1A: 36th Computers and Information in Engineering Conference
  • Charlotte, North Carolina, USA, August 21–24, 2016
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5007-7
  • Copyright © 2016 by ASME


Hand impairments represent a significant category of injuries, which can be limiting and impeding in the execution of Activities of Daily Living (ADLs). As can be widely appreciated in scientific literature, a great number of solutions has been proposed in last years for rehabilitating and assisting the patient in both mechanical (e.g. object manipulation) and also social tasks (e.g. shaking hands). Among the numerous approaches, robotic Hand Exoskeleton Systems (HES) represent a vast class of solutions to the problem, as they have several advantages. Contrarily to functional electrical stimulation techniques, for example, HES devices are less invasive and entail to a lesser induced muscular fatigue.

In the present work, the authors propose the redesign of a HES robotic device developed at the University of Florence, by means of Topological Optimization (TO) techniques. Even if the existing device is already functional and tested it is still characterized by high encumbrances and masses, in disrespect to the functional requirements. The redesign process has been addressed to a future production of the final object prototype in a titanium alloy, by means of an Electron Beam Melting (EBM) 3D printing machine. The entire procedure was carried out starting from a complete kinematic and dynamic study, followed by the application of TO techniques and it was finally validated by Finite Element Method (FEM) analysis. A single-finger mechanism prototype has been fabricated through additive manufacturing (by means of PolyJet technology) to test the ergonomics and aesthetics of the device.

The problem is introduced and contextualized in the Introduction section, while the methodology is subsequently extensively explained, followed by the presentation of the results. In the Conclusion section, the discussion of the process and the result is presented, while possible improving and developments are briefly hinted at.

Copyright © 2016 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In