1. Date of download: 10/8/2017
Copyright © ASME. All rights reserved.
From: A Simulation Framework for Virtual Prototyping of Robotic Exoskeletons
J Biomech Eng. 2016;138(6): doi: /
Figure Legend:
Finger–exoskeleton coupled system: (a) a 3D model of the developed coupled index finger–exoskeleton system, (b) preliminary 3D printed prototype of the device, and (c) virtual prototype (musculoskeletal model) used for the simulations. The model has 6DOF consisting of index finger MCP flexion, PIP flexion, DIP flexion, and exoskeleton proximal, middle, and distal link rotation. The three exotendons, the distal flexion tendon (TFD), proximal flexion tendon (TFP), and extension tendon (TE) are also modeled as muscles. The four index finger muscles in the model are FDPI, FDSI, extensor digitorum communis (EDCI), and extensor indicis proprius (EIP).