Here is a 3D printed, cable-driven exoskeleton for rehab and teleoperation. The UT Hand Exoskeleton has thumb, index, and middle finger exoskeletons. It has 8 DOF and a four-bar mechanism to prevent joint misalignment. There are also 16 sensors for torque and angle sensing.
As this video shows, this exoskeleton can be used to provide support when grasping objects and performing tasks. Reneu Lab has more info on this.
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