Kiper, Gökhanİnanç, EmirhanLenarčič, J.Husty, M.2025-03-062025-03-062024978-3-031-64056-82511-1256https://hdl.handle.net/11693/117055Conference Name: International symposium on Advances in Robot Kinematics (ARK)Date of Conference: 30 June - 04 July 2024The paper presents the kinematic design of a novel low-cost two degree-of-freedom finger exoskeleton mechanism to be used for rehabilitation exercises for post-stroke or injured patients. The first degree-of freedom is for the flexion/extension of metacarpophalangeal joint and is achieved via a planar 4-bar loop. The second degree-of-freedom is for the simultaneous flexion/extension of distal/proximal interphalangeal joints and is achieved via an over-constrained double-spherical 6-bar linkage, where 3 of the links are the phalanges of the finger and 2 of the joints are finger joints themselves. So, the number of extra links are less compared to other designs in the literature. The motion of an index finger is recorded via image processing. The four-bar mechanism part is designed for optimum transmission angle characteristics. The formulation and application of the kinematic synthesis of the 6-bar linkage is presented. The design is verified via a prototype.EnglishKinematic design of a novel finger exoskeleton mechanism for rehabilitation exercisesConference Paper10.1007/978-3-031-64057-5_45978-3-031-64057-52511-1264