Design and Implementation of Articulated Mimicking Robotic Finger with Abduction and Adduction Movements in the Index MCP Joint and Thumb CMC Joint

In this study, the proponents proposed a mechanism that provides abduction and adduction movements at the MCP joint of index finger and CMC joint of the thumb as well as full actuation in the movements of remaining joints whose human equivalents are capable of fully-independent movement. The system consists of two main digits: the thumb and the index finger. As a rundown, the digits are actuated by several HS35HD Micro Servo Motors, MG996R High-Torque Motor, and PQ-12R Micro Linear Servo. An aspect that can be noticed in the mechanism is the movement in the index PIP joint is actuated by a linear servo whose linear movement translated into rotational movement, with the mechanism allowing the distal phalange of the finger to move dependently of the middle phalange.A series of flex sensors attached on a glove was used to gather finger joint movement data made by the user. Mimicking happens as motors actuate according to the gathered data with the help of Arduino Mega 2560. To compare the angular positions actuated by the motors to that of the movements by the user flex sensors and potentiometer were utilized. The system’s mimicking capability is then evaluated using z-test.