Conceptual Design of a New Finger Exoskeleton Based on a Planar 6-Link Mechanism

This paper deals with the design of a single degree-of-freedom Stephenson type mechanism for a finger exoskeleton. The finger exoskeleton, fastened to the second phalange of the human finger and to the palm, guides the flexion/extension of the finger while generating desired grasping trajectories. In this paper preliminary results and a 3D printed prototype of the proposed finger exoskeleton are reported. The results obtained showed that the proposed finger exoskeleton can be successfully adopted for the motion guidance of the fingers of a hand exoskeleton.