Abstract
This paper presents the concept, design, and experimental characterization of a compliant finger exoskeleton with telescoping super-elastic transmissions. Nickel-Titanium (Ni-Ti) rods with the super-elastic feature are adopted as transmission components for the concentric telescoping mechanism to be flexible and safe. The mechanism of this finger exoskeleton is characterized in detail, including the finger connector, the elastic-rod transmission system (ERTS), and the actuator. The performance of compliance is demonstrated by finite element analysis. Then, the finger motion mapping relationship is captured by the experiments for a two-finger prototype. Experiment results show that certain compliance (e.g., 16∘/2N for the flexion/extension motion of the index finger) can be achieved by the Ni-Ti rods, and reflects in the assisted motion.
Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
