Figure 5From: Design and preliminary evaluation of the FINGER rehabilitation robot: controlling challenge and quantifying finger individuation during musical computer game playOptimized mechanism paths four different finger sizes. There are 15 goal configurations for each size, including target points (red exes) for the middle phalanx (for controlling position) and target lines (read lines) for the proximal phalanx (for controlling position and angle). The ability of the mechanism to reach these 15 configurations is demonstrated with black crosses and black lines.Back to article page