Palmo

design

Inspiration

The inspiration for Palmo came from watching family members struggle with the debilitating effects of arthritis. We noticed that while there are many passive "gripping aids," there are very few affordable active solutions. We wanted to bridge the gap between expensive medical exoskeletons and simple rubber grips by creating something "smart" yet accessible.

What it does

Palmo is a wearable assistive glove that provides mechanical advantage to the user’s fingers. A micro-servo motor acts as an artificial "muscle," pulling a high-tension line that runs through guides on the finger. When activated, the glove assists the user in closing their hand, providing the torque necessary to grip objects without requiring the user to exert painful force

How we built it

Hardware: We used a standard work glove as the chassis for its durability and grip. An SG90 servo motor was mounted at the wrist to act as the primary actuator.

Mechanics: We installed a "tendon" system using high-test line, secured with a glued anchor point at the fingertip and routed through cable tie guides for smooth movement.

Electronics: The system is powered by an Arduino (connected via D9) and uses a 5V power supply.

Software: We wrote a script using arduino ide to control and delay motor movement

Challenges we ran into

Tension Calibration: Finding the right balance of tension—too loose and the finger wouldn't move; too tight and the motor would stall or the glue would snap.

Mounting Stability: Securing a rigid motor to a flexible fabric glove was difficult. We had to move from simple adhesives to a combination of "super glue for strong hold" and sewing for long-term durability.

Cable Friction: Initial versions had the line snagging on the fabric. Using cable ties as low-friction "eyelets" was the breakthrough that allowed for smooth operation.

Accomplishments that we're proud of

Cost-Efficiency: We successfully built a working assistive prototype for under $30, whereas commercial medical devices can cost thousands.

Weight Distribution: We managed to keep the glove lightweight enough that it doesn't cause wrist fatigue, which is crucial for users with joint pain.

Simplicity: The design is "repairable." If a line breaks, a user can re-thread it themselves without needing specialized tools.

What we learned

We learned the importance of human-centric design. It’s not just about the motor’s strength; it’s about the "pro-tips"—like sewing the anchor points for durability—that make a device practical for daily life. We also gained deep experience in integrating rigid electronics with soft, wearable textiles (soft robotics).