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Table 4 Structural parameters for the medium finger curling mechanism

From: Design and preliminary evaluation of the FINGER rehabilitation robot: controlling challenge and quantifying finger individuation during musical computer game play

Length (mm)

Angle (°)

G x = −40.93

α = −135.2

G y = −28.68

α2 = +59.18

G1x = −59.64

δ = +9.520

G1y = −25.40

δ2 = −24.25

d1 = +36.28

γ = −39.29

d2 = +49.12

γ2 = 2.057

d3 = +19.05

μ = −19.67

d4 = +34.43

 

d5 = +20.18

 

d6 = +70.30

 

d7 = +92.68

 

d8 = +76.20

 

d9 = +69.80

 

d10 = +76.20

 

d11 = +55.30

 

m = +47.24

 

m2 = +101.20

Â