Design analysis and motion capture verification of a flexible bionic single finger

This study obtains biological inspiration from the human single-finger movement mechanism, deeply discusses the flexion movement characteristics of bionic single finger and compares it with the finger flexion and extension movement of real subjects. By simplifying the single-finger structure into a line-drive linkage mechanism, the continuous pose state underline-drive action is obtained. The coupling relationship between DIP and PIP was obtained by using a high-speed camera to measure the flexion and extension motion of real human fingers, and the synergistic action between the designed bionic single-finger phalangeal joints was required to restore the real biological motion law. The Vicon motion capture system was used to compare the flexion and extension motion of the bionic single-finger designed in this paper with the real finger. The high accuracy of the recorded motion data not only helps to understand the characteristics of the single-finger motion but also provides useful information for medical treatment, rehabilitation and human-computer interaction. The results show that the flexion movement of bionic single finger is consistent with the real movement of human finger, which verifies the accuracy of the theory and the practicability of the structure. This study provides useful guidance and direction for rehabilitation robot, biology and so on.