Kinematic analysis of a hand exoskeleton structure

In this paper, a linkage structure of a hand exoskeleton system for interacting with virtual objects is proposed. Each finger has three degrees of freedom (DOF). Two DOFs come from the finger, and one DOF comes from an actuator. By combining the DOFs from the finger and the exoskeleton, the proposed linkage is able to apply force feedback to the fingertip while enabling the natural finger motion. The performance of the proposed linkage mechanism was verified by simulation.