O'Malley, Marcia K.2019-05-172019-05-172018-122018-11-30December 2Rose, Chad Gregory. "Hybrid Rigid-Soft Exoskeleton Design." (2018) Diss., Rice University. <a href="https://hdl.handle.net/1911/105860">https://hdl.handle.net/1911/105860</a>.https://hdl.handle.net/1911/105860This thesis presents a hybrid approach to exoskeleton design, a novel approach of combining rigid and compliant elements to create capable, wearable devices. An assistive hand exoskeleton has been designed with this hybrid approach to return the ability to perform activities of daily living (ADLs) and improve quality of life (QOL) for a broad population with hand impairment. This compliant, glove-like exoskeleton resides on the spectrum between traditional rigid devices and the latest soft robotic designs. The device is underactuated, enabling seven hand poses which support most ADLs. The design of the softgoods includes novel ergonomic elements for power transmission and features that ease donning and doffing. Wearable sensors enable pose estimation and intent detection. The SeptaPose Assistive RoboGlove (SPAR Glove) is a prototype wearable solution to overcoming hand impairment. In addition to its role as an assistive orthosis, this exoskeleton has the potential to provide “hands-in” rehabilitation centered on performing functional tasks. Component-level characterization of the device, such as the force output, range of motion, and the efficacy of the power transmission, show that the SPAR Glove exceeds the requirements of ADLs and the capabilities of state-ofthe- art devices. System-level feedback from users performing simulated ADL suggests that the SPAR Glove has potential to impact QOL and indicated further directions for development. The SPAR Glove design can serve in a broad assistive role and as a testbed for assistive device design, intent detection and user interface research.application/pdfengCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.RoboticsWearablesExoskeletonsRehabilitationAssistanceThesis2019-05-17