Design of Minimally Actuated Mechanical Limbs and Exoskeletons based on Anthropometric Data and Anthropomorphic Tasks

This research is related to the development of a systematic method for motion generation of under-actuated mechanical exo-limbs based on desired physiological task, parameterized by first and second order motion specifications. Our approach combines the higher order motion task specifications with the anthropometric back-bone chain to synthesize planar multi-loop linkages that achieve the desired motion task.

minimally actuated finger