2018
Design and Evaluation of a Novel 5 DoF Underactuated Thumb-Exoskeleton
RA-L 2018
This letter presents the design of a new exoskeleton for thumb. The main feature of this device is a high degree of underactuation. In fact, the five degrees of freedom (dof) of the thumb are actuated by just one linear actuator. Other features of the thumb-exos are its capability of exert only forc