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Design of a Two-DOFs Driving Mechanism for a Motion-Assisted Finger Exoskeleton

Giuseppe Carbone Orcid Logo, Eike Christian Gerding, Burkard Corves Orcid Logo, Daniele Cafolla Orcid Logo, Matteo Russo, Marco Ceccarelli Orcid Logo

Applied Sciences, Volume: 10, Issue: 7, Start page: 2619

Swansea University Author: Daniele Cafolla Orcid Logo

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DOI (Published version): 10.3390/app10072619

Abstract

This paper presents a novel exoskeleton mechanism for finger motion assistance. The exoskeleton is designed as a serial 2-degrees-of-freedom wearable mechanism that is able to guide human finger motion. The design process starts by analyzing the motion of healthy human fingers by video motion tracki...

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Published in: Applied Sciences
ISSN: 2076-3417
Published: MDPI AG 2020
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URI: https://cronfa.swan.ac.uk/Record/cronfa62501
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first_indexed 2023-03-01T14:38:36Z
last_indexed 2023-03-02T04:17:37Z
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spelling 2023-03-01T14:43:42.8370723 v2 62501 2023-02-03 Design of a Two-DOFs Driving Mechanism for a Motion-Assisted Finger Exoskeleton ac4feae4da44720e216ab2e0359e4ddb 0000-0002-5602-1519 Daniele Cafolla Daniele Cafolla true false 2023-02-03 SCS This paper presents a novel exoskeleton mechanism for finger motion assistance. The exoskeleton is designed as a serial 2-degrees-of-freedom wearable mechanism that is able to guide human finger motion. The design process starts by analyzing the motion of healthy human fingers by video motion tracking. The experimental data are used to obtain the kinematics of a human finger. Then, a graphic/geometric synthesis procedure is implemented for achieving the dimensional synthesis of the proposed novel 2 degrees of freedom linkage mechanism for the finger exoskeleton. The proposed linkage mechanism can drive the three finger phalanxes by using two independent actuators that are both installed on the back of the hand palm. A prototype is designed based on the proposed design by using additive manufacturing. Results of numerical simulations and experimental tests are reported and discussed to prove the feasibility and the operational effectiveness of the proposed design solution that can assist a wide range of finger motions with proper adaptability to a variety of human fingers. Journal Article Applied Sciences 10 7 2619 MDPI AG 2076-3417 bionic mechanism design; synthesis; exoskeleton; finger motion rehabilitation 10 4 2020 2020-04-10 10.3390/app10072619 COLLEGE NANME Computer Science COLLEGE CODE SCS Swansea University 2023-03-01T14:43:42.8370723 2023-02-03T14:18:56.8061834 Faculty of Science and Engineering School of Mathematics and Computer Science - Computer Science Giuseppe Carbone 0000-0003-0831-8358 1 Eike Christian Gerding 2 Burkard Corves 0000-0003-1824-3433 3 Daniele Cafolla 0000-0002-5602-1519 4 Matteo Russo 5 Marco Ceccarelli 0000-0001-9388-4391 6 62501__26712__d99ba433064a40929242760ea80f828e.pdf 62501_VoR.pdf 2023-03-01T14:39:36.4197811 Output 7779666 application/pdf Version of Record true © 2020 by the authors. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license true eng http://creativecommons.org/licenses/by/4.0/
title Design of a Two-DOFs Driving Mechanism for a Motion-Assisted Finger Exoskeleton
spellingShingle Design of a Two-DOFs Driving Mechanism for a Motion-Assisted Finger Exoskeleton
Daniele Cafolla
title_short Design of a Two-DOFs Driving Mechanism for a Motion-Assisted Finger Exoskeleton
title_full Design of a Two-DOFs Driving Mechanism for a Motion-Assisted Finger Exoskeleton
title_fullStr Design of a Two-DOFs Driving Mechanism for a Motion-Assisted Finger Exoskeleton
title_full_unstemmed Design of a Two-DOFs Driving Mechanism for a Motion-Assisted Finger Exoskeleton
title_sort Design of a Two-DOFs Driving Mechanism for a Motion-Assisted Finger Exoskeleton
author_id_str_mv ac4feae4da44720e216ab2e0359e4ddb
author_id_fullname_str_mv ac4feae4da44720e216ab2e0359e4ddb_***_Daniele Cafolla
author Daniele Cafolla
author2 Giuseppe Carbone
Eike Christian Gerding
Burkard Corves
Daniele Cafolla
Matteo Russo
Marco Ceccarelli
format Journal article
container_title Applied Sciences
container_volume 10
container_issue 7
container_start_page 2619
publishDate 2020
institution Swansea University
issn 2076-3417
doi_str_mv 10.3390/app10072619
publisher MDPI AG
college_str Faculty of Science and Engineering
hierarchytype
hierarchy_top_id facultyofscienceandengineering
hierarchy_top_title Faculty of Science and Engineering
hierarchy_parent_id facultyofscienceandengineering
hierarchy_parent_title Faculty of Science and Engineering
department_str School of Mathematics and Computer Science - Computer Science{{{_:::_}}}Faculty of Science and Engineering{{{_:::_}}}School of Mathematics and Computer Science - Computer Science
document_store_str 1
active_str 0
description This paper presents a novel exoskeleton mechanism for finger motion assistance. The exoskeleton is designed as a serial 2-degrees-of-freedom wearable mechanism that is able to guide human finger motion. The design process starts by analyzing the motion of healthy human fingers by video motion tracking. The experimental data are used to obtain the kinematics of a human finger. Then, a graphic/geometric synthesis procedure is implemented for achieving the dimensional synthesis of the proposed novel 2 degrees of freedom linkage mechanism for the finger exoskeleton. The proposed linkage mechanism can drive the three finger phalanxes by using two independent actuators that are both installed on the back of the hand palm. A prototype is designed based on the proposed design by using additive manufacturing. Results of numerical simulations and experimental tests are reported and discussed to prove the feasibility and the operational effectiveness of the proposed design solution that can assist a wide range of finger motions with proper adaptability to a variety of human fingers.
published_date 2020-04-10T04:22:10Z
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score 11.035349