Introduction: The hand is an extremely complex organ, so restoring its function presents a challenge. There are various types of orthoses prescribed for impairments. For the purpose of improving function, these are hand exoskeletons. There are several types based on different operating principles. They consist of a static base and dynamic components. The latter include actuators, most often electric motors. While the systems they employ are powerful and precise within a limited range of motion, they are rigid and consequently heavy, inflexible to the environment, often non-transferable, energy-intensive, hazardous in interaction with humans, and thus impractical for use. These shortcomings can be circumvented by incorporating insights from soft robotics into orthosis design. Soft robotics draws inspiration from nature for system design, utilizing soft, adaptable materials for construction. Soft actuators can be manufactured, typically inspired by muscles. Their operation depends on supplied energy, design geometry, and material properties. Due to their characteristics, they are suitable for numerous applications across different fields, including orthotics and prosthetics. The development of soft actuators and innovative static bases for exoskeletons is primarily facilitated by advanced additive manufacturing technologies. Purpose: The purpose of this thesis is to design and present a prototype hand exoskeleton to assist in finger extension, powered by 3D-printed soft pneumatic actuators. Methods: A literature review was conducted to establish the theoretical framework. Articles published between 2013 and 2023 were searched in various databases, primarily in English. The research component involves describing the process of manufacturing a hand exoskeleton. Before that, the entire research path leading to the final idea and its implementation is summarized. We developed a prototype orthosis consisting of a static base and a functional part, incorporating dynamic components. The static base was assembled from 3D-printed components. The functional part includes cable pulls, 3D-printed soft pneumatic actuators, and a compressor. Results: The most important dynamic components are the actuators. We printed various models and tested them. They achieve different maximum forces and contractions, with their operation influenced by several factors. Discussion and Conclusion: The resulting hand exoskeleton is suitable for use in various pathologies, adjustable to some extent in size, and adaptable in correction. It is soft, lightweight, comfortable, and breathable. It does not overly impede sensory perception and proprioception, nor does it restrict retained hand movement. It does not generate excessive forces or abrupt movements, nor does it cause harmful torques on finger joints, making it safe for use. Nevertheless, it is only a prototype and thus has several, albeit solvable, shortcomings. Both the static base and actuators need improvement, as the latter are not yet powerful enough for practical use but adequately demonstrate the orthosis's operating principle. It seemed worthwhile to highlight some ideas for further research, as individual components hold promise.
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