Design of a hand wearable device for grasping with kinematic simulation

Date of Publication


Document Type

Master's Thesis

Degree Name

Master of Science in Manufacturing Engineering


Gokongwei College of Engineering


Manufacturing Engineering and Management

Thesis Adviser

Nilo T. Bugtai

Defense Panel Chair

Homer S. Co

Defense Panel Member

Rennan G. Baldovinno
Alexander C. Abad
Nilo T. Bugtai
Jonathan R. Dungca


The purpose of this study is to design a hand wearable device for grasping in order to provide assistance during rehabilitation. Indeed, human hands are crucial in activities of daily living. However, disability from stroke or injury remains to be the leading cause of impairment worldwide. Thus, repetitive exercises and strengthening activities are important to regain motor function and improve quality of life of patients affected by hand impairments. Currently, robotic exoskeletons have been developed to assist in the rehabilitation process but because of the complexity of the human hand, there pose a challenge to deliver meaningful manipulation capabilities in a small and lightweight package.

In the design of the hand exoskeleton, the anatomy of the hand is reviewed and considered to ensure biocompatibility between the actual user and the device. A prototype of the device is fabricated to provide complete flexion and extension motion of individual fingers of the right hand. This robotic system uses a cable-driven mechanism consists of cables attached to the fingertips through cable guides. The design of the glove can be secured and aligned to individual wearers to ensure adaptability. To test the device, a mechanical hand was 3D printed and was used to verify the compatibility of the glove. As a result, the device was able to provide the grasping motion.

Finally, the design was evaluated and validated by the medical doctors of the Department of Rehabilitation Medicine at Philippine General Hospital. Overall, the design and development of a hand robotic exoskeleton prototype for upper limb therapy was successful. This rehabilitation device through its design and features aims to improve the accessibility and reliability of stroke and injury therapy not only in the Philippines but in the developing regions as well.

Abstract Format






Accession Number


Shelf Location

Archives, The Learning Commons, 12F Henry Sy Sr. Hall

Physical Description

1 computer disc ; 4 3/4 in.


Robotic exoskeletons; Robot hands

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