Wearable finger exoskeleton for haptic interaction
The invention is a task-custom haptic finger exoskeleton device providing both kinesthetic stimuli along the finger and three-dimensional cutaneous force on the fingertip surface, either generated independently to each other or at the same time. The device can be used in a rehabilitative scenario, gaming, and remote control of manipulators.
This finger exoskeleton device comprises a proximal portion, apt to be worn at the first phalanx of a finger, and a fingertip portion, apt to be fixed to a distal phalanx and provided with a distal clamp.
The proximal portion comprises a proximal servomotor, acting on a link having an elongated rod connected to fingertip portion, and comprises a potentiometer to sense the rotation of link with respect to the proximal portion.
The fingertip portion comprises three different distal servomotors, displaced to form a triangle by their respective axes, and a haptic platform, rotatably linked to the axes of distal servomotors through respective arms. The haptic platform is positioned directly in contact to the finger pulp.
- Home rehabilitation, the patient may wear the device and repeat the assigned exercise several times;
- Teleoperation, to perform remote tasks in industrial and medical scenarios;
- Remote working;
- Virtual and augmented reality.
- Low cost;
- Easy and comfortable to wear;
- Friendly and safe interaction with the device.