Kinematic model of bar mechanism for ectrodactyly applications

This document describes the design and construction of a mechanical device that allows a subject with ectrodactyly to perform a power grip. For this purpose, the coupled bar mechanism for the emulation of a finger is presented, and a system that allows, from a single movement, to perform a large diameter grip, considering design variables obtained from anthropometric and goniometric measurement techniques. This is complemented by kinematic and static analysis, in which the position and force behaviours required in the design are verified. Then, the final construction scheme is carried out by means of computer-assisted design (CAD) software, in which the position behaviour of the distal phalanx end is obtained and compared with the models obtained in Linkage and Matlab. Finally, the work conclusions are presented.