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.
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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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