Numerical and experimental performance estimation for a ExoFing - 2 DOFs finger exoskeleton

Abstract

This paper presents a numerical and experimental validation of ExoFing, a two-degrees-of-freedom finger mechanism exoskeleton. The main functionalities of this device are investigated by focusing on its kinematic model and by computing its main operation characteristics via numerical simulations. Experimental tests are designed and carried out for validating both the engineering feasibility and effectiveness of the ExoFing system aiming at achieving a human index finger motion assistance with cost-oriented and user-friendly features.

Experimental Characterization of A-AFiM, an Adaptable Assistive Device for Finger Motions

“…Thus, we have fingers flexion and extension, as shown in Figure 1. In the references [5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23], several types of robots help in rehabilitation processes, this is because the mechanisms can generate controlled movement in the joints. The rehabilitation process allows people to regain control of their limbs after an illness or traumatic event.…”

“…Other authors, as in reference [15] using a rigid-soft combined mechanism for a hand exoskeleton, proposed a highly compact device. In reference to [16] a numerical and experimental validation of ExoFing (a "DoF finger mechanism exoskeleton"), they are investigated by focusing on the kinematic model and numerical simulations. A novel mechatronic exoskeleton for finger rehabilitation with sensors for detection motions and control is proposed in [17], the configuration of the exoskeleton can be fully reconstructed using measurements from three angular positions of sensors placed on the kinematic structure.…”