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Old 01-28-2013, 12:10 PM
cadsooraj cadsooraj is offline
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Join Date: Jan 2013
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1) Kinematic constraint between a finger and the Link1 is the First constraint.

2)The Link 2 is contained at a particular angle about Joint"C2'. Its only to accommodate the size variations of finger for each user. Its done by taking the angle of "C2" joint while the index finger is in full "Flexion" condition. So the brake is activated at that angle for that particular user.

3)The brake in the "C1" is activated only when there is any difference in kinematic angles of joint "C1" & "C3" [Encoder in the actuator side] over a time period just like the relation of PIP & DIP joints of human index finger.
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