3P2-F03 Thumb mechanism for hand exoskeleton device using three-layered sliding spring mechanism(Rehabilitation Robotics and Mechatronics)

Abstract

In the authors' earlier study, a hand exoskeleton device using layered spring blades has been developed. The advantages of the presented mechanism are compact, lightweight and high adaptability to the environment thanks to the compliant structure. In this paper, as a further extension of the presented mechanism, we propose a thumb module that can be add-on to the current system, without having the additional actuator.