A comprehensive hand exoskeleton with high precision haptic rendering
The Maestro Hand Exoskeleton is a versatile experimental platform designed for high-precision haptic interaction. Originally developed for rehabilitation, Maestro is now being extended to a wide range of applications, including telemanipulation, proprioception studies, and advanced human-robot interaction.
Maestro features a multi-joint mechanical linkage design with redundant embedded sensors, enabling real-time estimation of human hand posture. Its flexible sensor architecture allows for dynamic combinations of sensor subsets, optimizing the accuracy of hand tracking. The redundancy also supports self-calibration, providing precise alignment between the user’s hand and the robotic system.
The system includes both active and passive joints:
Active joints provide both torque output and angle sensing. They are driven by a combination of pulleys, linear springs, and Bowden cables, forming an intrinsically compliant structure known as a Series Elastic Actuator (SEA). This design allows the robot to interact safely and naturally with human tissue, without relying solely on software-based compliance control, as seen in traditional rigid robots.
Passive joints are equipped with angular sensors and are designed to follow the user’s hand motion without applying force, enabling intuitive and low-resistance movement.
Thanks to its intrinsic safety, adaptability, and precision, Maestro offers a reliable and high-performance solution for both research and real-world applications—especially in scenarios involving individuals with impaired hand function.
EMG-Driven Hand Exoskeleton for SCI Patients
In spinal cord injury (SCI) rehabilitation, restoring the ability to perform daily tasks is a major challenge due to impaired hand function. To address this, we combine the Maestro powered hand exoskeleton with surface EMG (sEMG) signals to detect user intent and assist with grasping motions.