Improving Grip Strength Using a Non-invasive Underhand Exoskeleton

Beckett, Joshua, Watkins, Matt ORCID: https://orcid.org/0000-0003-4196-2276, Green, Ben and Scott, Michael ORCID: https://orcid.org/0000-0002-6803-1490 (2026) Improving Grip Strength Using a Non-invasive Underhand Exoskeleton. In: 2026 IEEE International Conference on Cyborg and Bionic Systems, 6-8 September, 2026, Munich, Germany. (In Press)

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Abstract / Summary

Reduced grip strength due to arthritis presents a major barrier to independence for millions of people worldwide. In response, biomechatronic systems have emerged as a promising avenue for providing at-home grip assistance. This paper describes a non-invasive underhand exoskeleton that assists users by improving their grip strength during daily tasks. Unlike conventional hand exoskeletons that apply force through the fingers, the proposed design employs a cable-driven actuation system that amplifies finger movements without stressing hand joints. The compliant interface leverages soft thermoplastic polyurethane fingers with a silicone skin layer, actuated by a single continuous servo guided through Bowden cables. As a preliminary feasibility study, the device was evaluated by a single able-bodied operator, providing an initial proof of concept. Experimental evaluation demonstrates a statistically significant mean increase in grip strength from 135.3N to 234.4N (p < 0.001, d = 5.7), and a 96.9% success rate across 162 trials involving basic activities of daily living, such as opening doors, filling a mug, and manipulating jars. The results indicate that the non-invasive underhand exoskeleton can provide significant assistance for daily activities, highlighting its potential as an assistive device for individuals with arthritis. While current performance is affected by material deformation, single-motor dexterity constraints, and control-signal artefacts, future research aims to overcome these limitations through robust fabrication, independent multi-finger actuation, and advanced control, towards the development of clinically testable devices.

Item Type:	Conference Item (Paper)
Subjects:	Computing & Data Science Creative Art & Design > Sustainable Product Design Health > Public Health
Department:	Games Academy
Depositing User:	Michael Scott
Date Deposited:	10 Sep 2026 15:48
Last Modified:	10 Sep 2026 15:48
URI:	https://repository.falmouth.ac.uk/id/eprint/6570

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