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

Published online by Cambridge University Press:  23 November 2021

G Carbone Open the ORCID record for G Carbone [Opens in a new window] ,
M Ceccarelli Open the ORCID record for M Ceccarelli [Opens in a new window] ,
C. E. Capalbo ,
G Caroleo Open the ORCID record for G Caroleo [Opens in a new window]  and
C Morales-Cruz
G Carbone*
Affiliation:
Department of Mechanical, Energy and Management Engineering, DIMEG, University of Calabria, Rende, Italy
M Ceccarelli
Affiliation:
Department of Industrial Engineering, DII, University of Rome Tor Vergata, Rome, Italy
C. E. Capalbo
Affiliation:
Department of Mechanical, Energy and Management Engineering, DIMEG, University of Calabria, Rende, Italy
G Caroleo
Affiliation:
Department of Mechanical, Energy and Management Engineering, DIMEG, University of Calabria, Rende, Italy
C Morales-Cruz
Affiliation:
Instituto Politécnico Nacional, GIIM: Group of Research and Innovation in Mechatronics, 07700 Mexico City, Mexico
*
*Corresponding author. E-mail: giuseppe.carbone@unical.it
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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.

Keywords

biomechanicsexoskeletonmotion assistanceperformance evaluationexperimental robotics
Type
Research Article
Information
Robotica , Volume 40 , Issue 6 , June 2022 , pp. 1820 - 1832
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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