A novel exoskeleton finger mechanism for robotic applications

This paper outlines the design and the development of a novel robotic exoskeleton finger. The new exoskeleton mechanism aims to produce an efficient prototype with a trajectory similar to a natural finger. This novel design combines both the classical Bennett mechanism and a new mechanism named kinetiX. kinetiX was primarily introduced by MIT media lab at Massachusetts Institute of Technology (MIT). This exoskeleton finger is driven by a single actuator to ensure the actuation simplicity. In addition, it is characterized by its flexibility, lightweight and human-like slender shape. Therefore, it allows the smooth transmission of position and force to the tip of the finger. The design constraints of the new mechanism are deduced from the user biomechanics. The mechanical design of the device is proposed, manufactured and tested. It is shown that the new design is able to emulate the finger flexion/extension curvature movements successfully.