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

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

doi:10.3390/app10072619

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

Giuseppe Carbone

, Eike Christian Gerding, Burkard Corves

, Daniele Cafolla

, Matteo Russo, Marco Ceccarelli

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

Swansea University Author: Daniele Cafolla

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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
Online Access:	Check full text
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	11.012678

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

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