Design of a 3D printed lightweight orthotic device based on twisted and coiled polymer muscle: iGrab hand orthosis

摘要: Partial or total upper extremity impairment affects the quality of life a vast number people due to stroke, neuromuscular disease, trauma. Many researchers have presented hand orthosis address needs rehabilitation or assistance on function. Most devices available commercially and in literature are powered by conventional actuators such as DC motors, servomotors pneumatic actuators. Some prototypes developed based on shape memory alloy (SMA) dielectric elastomers (DE). This study presents customizable, 3D printed, a lightweight exoskeleton (iGrab) recently reported Twisted Coiled Polymer (TCP) muscles, which are lightweight, provide high power weight ratio large stroke. We used silver coated nylon 6, 6 threads make the TCP can be easily actuated electrothermally. reviewed briefly created with various actuation technologies present our design tendon-driven muscles confined forearm area. A single muscle is facilitate motion all three joints namely DIP (Distal interphalangeal), PIP (Proximal Interphalangeal) MCP (Metacarpophalangeal) using passive tendons though circular rings. The grasping capabilities, along TCP properties utilized cycle, actuation under load power inputs discussed.