Conclusions and Future Works

Conclusion

We set out to create a device that would assist Paul and others like him to achieve better force and dexterity in their hands. Through our process, we understood that among other things, it was no easy task to attach an exoskeleton to the hand due to the unique shape of the hand, and its unique motion.

We learned that it is very important to create a physical prototype. It allows us to visualize problems that we might not have thought of while designing a product. It is also important to keep in mind tolerances of various techniques while creating a prototype, whether it be machining, 3D printing, or laser cutting. Designing for machining/production was a huge lesson in going through this process. We also learned that modeling the system and performing kinematic analysis with 3D modeling simplifies the design process. Despite careful analysis, we found that multiple prototypes are required to obtain a better finalized design.

We also saw that we were limited by some of the materials we could use. For example, we had a need for very small gears to complete the motion required for the glove, however our acrylic gears were not able to be manufactured perfectly on the laser cutters and thus had trouble transmitting all of the force needed towards the end to curl up the entire hand. One of the most important lessons that we learned was that keeping in contact with the customer and keeping them in mind throughout the whole design process leads to better designs and a more effective design process.

Future Improvements

Moving forward we would:

Make the model more compact.

Further optimize the link shapes and sizes.
Create a portable power source for the arduino board and the motor

Reduce the weight on the hand.

We could do this by finding a different high torque low weight motor.
By redesigning the location of the motor.

Have more complex shapes to make it fit better on the hand (using SLS).
Improving attachment of the exoskeleton to the hand.
Improve the design by using an actual hand model and keeping in mind how the hand opens and closes.
Create an actuation system for the exoskeleton.

A sensing mechanism that uses the wrist motion could be used to actuate the system.
A pressure sensor connected to the thumb could be used to actuate the system.

Make the exoskeleton easier to assemble and stronger.

Manufacture parts using SLS.
Machine the parts and use light weight and high strength materials like aluminum.

Design a more robust drive train/ driving mechanism

Using better gears than ones made of acrylic
Using a belt drive to drive instead of gears