Design and Testing of a Finger Exoskeleton Prototype
In this paper, a novel exoskeleton linkage is proposed for finger motion assistance in rehabilitation therapies because of reproducing finger motions. The exoskeleton linkage is composed of two chains in series giving a 2-degree-of-freedom full mechanism that is easily wearable. Design requirements are discussed to formulate a synthesis procedure whose design result gives a mechanical design for a prototype. The operation is simulated with results that are compared to experimental data with the built prototype to validate and characterize the proposed design.
KeywordsMechanism design Exoskeleton Finger motion Prototype test
The first author gratefully acknowledges the Erasmus+ program for the period of study he spent in 2017–2018 at LARM of the University of Cassino and South Latium under the supervision of Prof. M. Ceccarelli.
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