Hand Exoskeleton Robot as a Force Measurement Tool

Evan A. Susanto, Raymond K.Y. Tong, Newmen S.K. Ho, and Xiaoling Hu


measurement and instrumentation, biomechatronics


The study aims to develop a single device which is capable of measuring both flexion and extension on each of the five digits of human hands. The device allows force measurement on the proximal phalanx of the thumb, as well as on the proximal and middle phalanges of the other four digits. The device is based on the hand exoskeleton robot previously developed by our group and makes use of nine strain gauges as the sensors. The repeatability of the measurement was tested and showed an error of less than 1%. The stability, repeatability, and linearity of the device were evaluated and found to be highly acceptable. Pilot test of finger force measurement on two healthy subjects was carried out but the results are not quite close to previous literatures. A proposed explanation for this is the age difference between the two groups with one being twice as old as the other.

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