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

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.

Rehabilitation after flexor tendon repair and others: a safe and efficient protocol

In this review I detail the protocol that I use after flexor tendon repair and outline my experience regarding how its framework might be used for other disorders. The early passive–active flexion protocol has a sufficient number of cycles of active flexion in each exercise session, which is at least 40, and ideally 60 to 80. The frequency of exercise sessions may range from 4 to 6 a day, distributed in the morning, afternoon and evening. Increasing the number of daily sessions without a sufficient number of runs in each session is ineffective. In the first 2–3 weeks after surgery, active digital flexion should go through only a partial range. In weeks 4–6, the patient gradually moves through the full range. With modifications, I suggest generalization of the partial-range finger motion to therapy after treating other hand injuries. I consider partial-range active flexion a generalizable working principle for different hand disorders.

A prototype characterization of ExoFinger, a finger exoskeleton

This article presents an experimental characterization of ExoFinger, a finger exoskeleton for finger motion assistance. The exoskeletal device is analyzed in experimental lab activities that have been conducted with different users to characterize the operation performance and to demonstrate the adaptability of the proposed device. The behavior of this device is characterized in detail using sensors to measure finger motion and power consumption. Sensor measures also demonstrate the given motion assistance performance in terms of an electrical finger response and finger temperature by resulting in an efficient solution with a large motion range of a finger in assistance of recovering finger motion.

A bionic soft robotic glove mimicking finger actions based on sEMG recognition

Compared with rigid robots, soft robotics is more suitable to develop anthropomorphic digits that mimics the biological structures and dexterous motions of human finger. This study proposed a surface electromyogram (sEMG) sensors-based soft robotic glove system which was able to recognize the finger activities and execute the same operation via the bionic glove. Finger activities can be recognized by using electrodes sensors to monitor the electric potential variations on specific surface of the forearm muscle regions. A hybrid robotic digit was designed that utilizes pneumatic bellow actuators to satisfy the anatomical range of the finger motion in order to mimic finger action according to sEMG information. The moving trajectory of digit tip and the range motion of each joint of the robotic digit were measured in experiments under the pressure from 0kPa to 70kPa. The bionic soft robotic glove successfully demonstrated the finger action recognition and robotic digits controlling for a variety of manipulation tasks. The feasible results provided a novel technique for controlling the soft robotic glove through sEMG signals holistically and practically, and also give inspiration and guidance for multiple fingers remote operational applications.