GrabCAD 模型信息
Fully Active Dual-Servo Hand Rehabilitation Exoskeleton · 模型 124048
Overview This project features a fully 3D-printable, active hand rehabilitation exoskeleton engineered for complete, bidirectional control of finger movement. Designed with a focus on precise kinematics and modular assembly, this device assists in both the flexion and extension of the hand entirely through mechanical actuation, offering a highly controlled environment for rehabilitation exercises. The Antagonistic Dual-Actuation System Unlike many traditional rehab gloves that rely on passive elastic returns (like rubber bands), this model utilizes a fully active, antagonistic dual-servo system. The primary dorsal (upper) mount houses the flexion servo, which actively pulls the fingers into a closed grip. To reverse the motion, a secondary servo mount is integrated into the lower section of the main chassis. This lower system routes a separate set of tendons that actively pull the fingers back to a fully open, extended state. Because both directions are mechanically driven, a microcontroller has absolute authority over the hand's position, speed, and force at all times. Tendon Routing and Mechanical Design Effective cord management is critical to the smooth operation of this exoskeleton. For the flexion movement, tendons run from the individual, segmented finger grips and converge through a custom-designed, five-hole pivot guide located on the top cover. This dedicated pivot ensures that all five cords remain organized, preventing tangles and normalizing the pulling angles before they attach to the upper servo arm. The finger grips themselves are articulated to move naturally with the human joints while maintaining a secure hold on the routing lines. Control and Electronics By shifting the entire workload to the physical tendon systems, the electronic footprint remains incredibly clean. The device can be driven entirely by direct pin control to the two servos via a standard microcontroller. There is no need for complex motor drivers or bulky H-bridges. The entire motion profile—from a gentle, assisted grip to full extension—can be programmed and calibrated purely through code, making it an ideal platform for custom rehabilitation routines. Assembly and Printing The components are optimized for standard FDM 3D printing, featuring a rugged main chassis that rests comfortably over the hand and wrist. The upper and lower assemblies lock together to house the mechanical routing while providing structural rigidity against the pulling forces of the servos.
- 格式
- Rendering、STEP / IGES
- 分类
- 3D printing、Educational、Robotics
- 标签
- tendon driven、biomedical、robotics、tendon driven prosthetics、servo controlled solidworks、rehabilitation、hand exoskeleton
- 数据更新
- 2026-10-16T04:24:44Z
