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Design of a Two-DOFs Driving Mechanism for a Motion-Assisted Finger Exoskeleton
Applied Sciences, Volume: 10, Issue: 7, Start page: 2619
Swansea University Author: Daniele Cafolla
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© 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
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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...
Published in: | Applied Sciences |
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ISSN: | 2076-3417 |
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MDPI AG
2020
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URI: | https://cronfa.swan.ac.uk/Record/cronfa62501 |
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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 |
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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 |
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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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1763754461557161984 |
score |
11.035349 |