A Novel Robotic Exoskeleton for Finger Rehabilitation: Kinematics Analysis

Table 1

Geometrical parameters corresponding to the forefinger.

	Constant/variable	Value/range	Unit
	Variable	[18.5, 24.5]	mm
	Constant	30	mm
	Variable	[−4, 0.5]	mm
	Variable	[11.5, 16.0]	mm
	Constant	20	mm
	Variable	[−20, 0]	Degree
	Variable	[−20, 0]	Degree
	Variable	[−60, 0]	Degree
	Variable	[−30, 0]	Degree
	Variable	[−50, 0]	Degree