The following paper proposes a novel finger kinematic model inspired by the CLAW hand project [1], which looked to improve and simplify the mechanism limited to the finger and thumb. Based on motion capture geometry of a human hand grasping a cylinder, a control-orientated planar kinematic model for the natural human hand configuration was designed [2]. Given any angles of the finger joints, the model is able to calculate the respective mechanism joints. Given the expense of physical therapy for finger rehabilitation, this mechanism serves as alternative for therapy which follows natural human pinching motion.
1: Using GeoGebra to learn kinematic mechanism design
2: Physically designing the linkage mechanism to actuate with a servo
3: Using motion capture data from the human hand to validate our physical mechanism
[1] Robson, N., Yun Chen, B., Won, J., and Song Soh, G. (April 25, 2022). "Development and Evaluation of a Passive Multiloop Wearable Hand Device for Natural Motion." ASME. J. Mechanisms Robotics. February 2023; 15(1): 011004. Link to publication.
[2] Robson, N, Audrey, V, Hernandez, S, Golden, J, & Ton, V. "Natural Motion Grasping Design Using Control-Oriented Kinematic Models." Proceedings of the ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 8: 47th Mechanisms and Robotics Conference (MR). Boston, Massachusetts, USA. August 20–23, 2023. V008T08A073. ASME. Link to publication.