Design of a Reconfigurable Robotic System for Flexoextension Fitted to Hand Fingers Size

Figure 2

Flexoextension path of the kinematic chain of the three phalanges of middle finger (0° ≤ MCP ≤ 90°, 0° ≤ PIP ≤ 90°, and 0° ≤ DIP ≤ 60°).