Design and Characterization of a Rolling-Contact Involute Joint and Its Applications in Finger Exoskeletons

The hand exoskeleton has been widely studied in the fields of rehabilitation and grasping assistance tasks. Current exoskeletons face challenges combining a user-friendly design with lightweight structure accurate modeling motion. In this study, we developed finger rolling contact involute joint. Specific implementation methods were investigated, including an analysis mechanical characteristics joint model, formula derivation parameter optimization algorithm, process for Experiments conducted using prototype to evaluate output trajectory force exoskeleton. An EMG-controlled was verify wearability functionality glove. experimental results show that proposed can provide sufficient fingertip (10N) while forming assist users functional activities.