Wolbrecht Eric T, Morse Kyle J, Perry Joel C, Reinkensmeyer David J
Annu Int Conf IEEE Eng Med Biol Soc. 2016 Aug;2016:582-585. doi: 10.1109/EMBC.2016.7590769.
This paper describes the design and initial prototype of a thumb curling exoskeleton for movement therapy. This add-on device for the Finger INdividuating Grasp Exercise Robot (FINGER) guides the thumb through a single-degree-of-freedom naturalistic grasping motion. This motion complements the grasping motions of the index and middle fingers provided by FINGER. The kinematic design and mechanism synthesis described herein utilized 3D motion capture and included the determination of the principle plane of the thumb motion for the simple grasping movement. The results of the design process and the creation of a first prototype indicate that this thumb module for finger allows naturalistic thumb motion that expands the capabilities of the FINGER device.
本文描述了一种用于运动治疗的拇指卷曲外骨骼的设计及初始原型。这种用于手指个体化抓握练习机器人（FINGER）的附加装置引导拇指进行单自由度的自然抓握运动。该运动补充了FINGER提供的食指和中指的抓握运动。本文所述的运动学设计和机构综合利用了3D运动捕捉，并包括确定简单抓握运动中拇指运动的主平面。设计过程的结果以及首个原型的制作表明，这种用于手指的拇指模块能够实现自然的拇指运动，从而扩展了FINGER装置的功能。
