Design of under-actuated serial structures with non-identical modules to match desired finger postures

In this paper, we present the modelling of a hyper-redundant mechanism for assisting fingers in achieving desired configurations. The device is composed of serially linked rotating rigid elements and is actuated by a cable-driven mechanism that can provide both flexion and extension. The modelling is based on the analysis of the static equilibrium configurations that the structure acquires, which are dependent on the design parameters of each segment and on the ratio of the tensions applied on the cables. We show how it is possible to obtain different configurations by properly shaping the geometry of each element. Such a relationship was theoretically investigated and experimentally validated to compare the actual configuration with the one predicted by the model. The prototype was designed so that its static equilibrium configuration approximates the geometry of a finger during flexion-extension. It was observed that the customised structure achieves a configuration more closely resembling the desired one than a non-customised actuator. By adapting the design of each element and properly adjusting the ratio of tensions, one is able to compute the final configuration achieved by the actuator so that it can approximate the desired posture.