Due to the growing demand for assistance in rehabilitation therapies for handmovements, a robotic system is proposed to mobilize\nthe hand fingers in flexion and extension exercises. The robotic system is composed by four, type slider-crank, mechanisms that\nhave the ability to fit the user fingers length from the index to the little finger, through the adjustment of only one link for\neach mechanism. The trajectory developed by each mechanism corresponds to the natural flexoextension path of each finger.\nThe amplitude of the rotations for metacarpophalangeal joint (MCP) and proximal interphalangeal joint (PIP) varies from 0 to\n90âË?Ë? and the distal interphalangeal joint (DIP) varies from 0 to 60âË?Ë?; the joint rotations are coordinated naturally. The four RRRT\nmechanisms orientation allows a 15âË?Ë? abduction movement for index, ring, and little fingers. The kinematic analysis of this\nmechanism was developed in order to assure that the displacement speed and smooth acceleration into the desired range ofmotion\nand the simulation results are presented.The reconfiguration of mechanisms covers about 95% of hand sizes of a group ofMexican\nadult population. Maximum trajectory tracking error is less than 3% in full range of movement and it can be compensated by the\nadditional rotation of finger joints without injury to the user.
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