Design of an Underactuated Hand Exoskeleton with Joint Estimation

  • Mine SaracEmail author
  • Massimiliano Solazzi
  • Daniele Leonardis
  • Edoardo Sotgiu
  • Massimo Bergamasco
  • Antonio Frisoli
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 47)


In this study, we present an underactuated hand exoskeleton with the adaptation for the shape and the size of the objects during grasping tasks. The realism of the grasping tasks are improved by allowing only the normal transmission of the forces on the finger phalanges. The absence of the tangential forces allows the device to be attached to the user’s finger in an easy and comfortable manner for the operation. Furthermore, the finger size adjustability can be ensured by the linkage-based design. Underactuation assures the automatic adjustability of the device for the grasping objects, while preventing the posture control of the finger phalanges. The undersensing disadvantage of the underactuation approach is suggested to be overcome by utilizing an additional potentiometer on the device in order to estimate the finger joints and the pose analysis of the mechanism during operation.


Sensory Measurement Joint Estimation Finger Joint Automatic Adjustability Proximal Phalange 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



This research was been funded from the project “WEARHAP WEARable HAPtics for humans and robots” of the European Union Seventh Framework Programme, grant agreement n 601165 and the EU Horizon2020 project n. 644839 CENTAURO.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Mine Sarac
    • 1
    Email author
  • Massimiliano Solazzi
    • 1
  • Daniele Leonardis
    • 1
  • Edoardo Sotgiu
    • 1
  • Massimo Bergamasco
    • 1
  • Antonio Frisoli
    • 1
  1. 1.PERCRO LabScuola Superiore Sant’AnnaPisaItaly

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