Finger Rehabilitation Support System Using a Multifingered Haptic Interface Controlled by a Surface Electromyogram
Figure 2
The system of the multifingered haptic interface robot: HIRO III. This robot has five haptic fingers, and the fingers have 3 degree of freedom and a 3-axis force sensor. In (f) the blue volume shows the movable work space of the haptic fingertip.
(a) The haptic interface: HIRO III overview with arm
(b) Connect to hand part of HIRO III
(c) Installation of finger folder at fingertip
(d) Passive spherical joint at the top of haptic finger
