Joint Angle Control of a Cable-Actuated Soft Hand Exoskeleton

Many exoskeleton systems use a cable-pulley mechanism for actuation for complex hand grips. This paper discusses a trajectory control of a finger using a mathematical model. The soft glove is designed based on the conceptual framework of a natural skeletal finger. A two-link mechanism forms the kinematic model of the finger joints and soft actuators. The design has a natural claw-like position for...