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four-bar mechanism

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Design of a variable stiffness index finger exoskeleton
Abhishek Attal, Ashish Dutta
Journal:

Robotica / Volume 40 / Issue 4 / April 2022

Published online by Cambridge University Press:

09 August 2021, pp. 1151-1167
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This paper presents the design and experimentation of a variable stiffness index finger exoskeleton consisting of four-bar mechanisms actuated by a linear actuator. The lengths of the four-bar mechanism were optimized so that it can follow a recorded index fingertip trajectory. The mechanism has a fixed compliance at the coupler of the four-bar link and a variable compliance at the linear actuator that moves the four-bar. The skeletal shape of the coupler of the finger link has been optimized using FEM. The exoskeleton can apply a constant fingertip force irrespective of the position of the fingers.