Fig. 1

CAD rendering of a the exoskeleton wrist-forearm structure, which provided a secure mounting for the electrical components and Velcro wrist straps. The design provided attachment points for the five exoskeleton digits and was 3-D printed as a single piece. b Full hand assembly including all of the exoskeleton digits, the thumb assembly, and wrist-forearm structure. c The index digit exoskeleton and pinky digit were designed with similar concentric ring structures with bilateral joints. The distal sections of each finger assembly encase the fingertips, and the section proximal to the wrist and forearm structure attached to the corresponding wrist-forearm attachment point with a pin and securing cap. Individual sections were 3-D printed separately using ABS. d The ring digit exoskeleton flexible knuckle joint and middle digit knuckle joint, which is constructed in the same manner, were 3-D printed as shown, with the distal cap of the same design to the index and pinky digits 3-D printed and hand-assembled