Abstract
AbstractThis paper outlines a method to design an underactuated, linkage-based hand exoskeleton. A planar 8-link mechanism with phalanges and articulations as part of the kinematic chain is used for each finger. The links are attached to the proximal and distal phalanges. For the thumb, a planar 6-link mechanism directly connected at the distal phalanx is used. The kinematic synthesis of the mechanism based on Burmester Theory was performed with two principal considerations: a. To obtain link lengths that ensured no mechanical interference between the mechanisms and the hand and b. The mechanism ensured that each finger follows the natural trajectory. The mechanism is evaluated by comparing the workspace of the anatomical index finger with that of the hand exoskeleton assisted finger.KeywordsHand exoskeletonKinematic synthesisPose analysis
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