Design criteria for wearable robotic extra–fingers with underactuated modular structure

Wearable robotic extra–limbs represent a recent but lively research topic. Designing and controlling robotic extra–limbs involve several constraints and challenges, more than prostheses or exoskeleton: Such mechatronic devices have to work closely to human bodies and have to cooperate and coordinate with their natural limbs. In this paper we will summarize the main design criteria we followed to realise a light and robust wearable robotic device aimed at augmenting human hand capabilities, and we will present a method to evaluate its kinematic behaviour, so that it can coordinate effectively with human’s fingers in cooperative tasks.