Keywords
Hand Exoskeleton; Virtual Reality; Compliant Mechanism; Compliant Structure; Tendon Actuation; 3D Printing
Abstract
This thesis presents the design and prototyping of a wearable hand exoskeleton that integrates a flexible structural framework to assist with hand movement while maintaining comfort and anatomical conformity. The goal was to create a device that supports tendon-driven actuation through a compliant structure, combining elements of rigidity and flexibility to match the natural geometry and motion of the human hand. Traditional hand exoskeletons often trade off motion for structure or vice versa. This project aims to bridge that gap with a hybrid compliant design that balances flexibility and support. The design process followed an iterative approach involving rapid prototyping using PLA and TPU on a consumer-grade 3D printer. Components were repeatedly tested, adjusted, and integrated into a modified fabric glove using flexible TPU parts. While fully functional compliant mechanisms were not implemented, the result is a compliant structure that aligns with tendon paths based on anatomical study. Tendon routing was inspired by human hand biomechanics and implemented using fishing line and Bowden sleeves. The integrated mechanical and electrical prototype was assembled and tested successfully. This work demonstrates a low-cost, adaptable approach to designing wearable assistive devices, offering insight into how additive manufacturing and anatomical modeling can be combined to develop more practical and human-centered exoskeletons. The outcome highlights a pathway for future work in rehabilitation, haptic feedback devices, and human-robot interaction, where mechanical compliance and anatomical fidelity are critical.
Thesis Completion Year
2025
Thesis Completion Semester
Summer
Thesis Chair
Park, Joon-Hyuk
College
College of Engineering and Computer Science
Department
Mechanical and Aerospace Engineering
Thesis Discipline
Mechanical and Aerospace Engineering
Language
English
Access Status
Open Access
Length of Campus Access
None
Campus Location
Orlando (Main) Campus
STARS Citation
Koopman, Tristan R., "Integrated Compliant Structure for a Hand Exoskeleton" (2025). Honors Undergraduate Theses. 375.
https://stars.library.ucf.edu/hut2024/375
Included in
Biomechanical Engineering Commons, Biomechanics and Biotransport Commons, Biomedical Devices and Instrumentation Commons, Computer-Aided Engineering and Design Commons, Ergonomics Commons, Manufacturing Commons, Robotics Commons
Rights Statement
