Experimental Characterization of A-AFiM, an Adaptable Assistive Device for Finger Motions

Jhon Freddy Rodríguez-León, Eduardo Castillo-Castañeda, José Felipe Aguilar-Pereyra, Giuseppe Carbone

Research output: Contribution to journalArticlepeer-review


Robot rehabilitation devices are attracting significant research interest, aiming at developing viable solutions for increasing the patient’s quality of life and enhancing clinician’s therapies. This paper outlines the design and implementation of a low-cost robotic system that can assist finger motion rehabilitation by controlling and adapting both the position and velocity of fingers to the users needs. The proposed device consists of four slider-crank mechanisms. Each slider-crank is fixed and moves one finger (from the index to the little finger). The finger motion is adjusted through the regulation of a single link length of the mechanism. The trajectory that is generated corresponds to the natural flexion and extension trajectory of each finger. The functionality of this mechanism is validated by experimental image processing. Experimental validation is performed through tests on healthy subjects to demonstrate the feasibility and user-friendliness of the proposed solution.

Original languageEnglish
Article number280
Issue number4
StatePublished - Apr 2022
Externally publishedYes


  • control
  • four slider-crank
  • healthy
  • image processing
  • robot rehabilitation devices


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