# Development of a Wearable Finger Exoskeleton for Rehabilitation
## 6 Conclusions  
As discussed in the previous sections, the CAD design of a one-DOF exoskeleton for a finger's movement was presented. The prototype was based on the anthropometric measurements of a finger, as well as the movement ranges of the joints (MCP, PIP, and DIP joints).  
In the development of position and displacement analyses, the link position of the proposed design was determined concerning a driving link position, which, in this case, was the linear actuator. The analysis presented a challenge since the mechanism configuration meant that obtaining the position equations of the main elements had considerable complexity. However, the equation validation indicates a good analysis.  
Figure 11: Physical prototype for the proposed design. (**a**) Initial position and (**b**) final position.  
The inverse kinematic analysis achieved the equations that described the prototype position to determine the value of the articular coordinates with respect to the finger end coordinates. Additionally, inverse kinematic analysis was performed using the geometric approach, finding a close equation. The Newton-Euler approach was applied for dynamic analysis. As a result of the simulations, pairs were obtained, for example, for the movement of the MCP joint. The maximum obtained torque was 0.0170 N-m.  
The simulation developed through SimMechanics allowed mechanism movement according to the proposed ranges of motion. Additionally, structural analysis simulation was carried out using ANSYS software. With the obtained results, it was possible to determine the link deformation that occurs in the mechanism when an external force is applied from the Actuonix linear actuator, which was applied in the bolt that joins the linear actuator with the mechanism that exerts movement on the proximal phalanx. The used force value was 40 N, which is equivalent to the maximum exerted force by the actuator. The obtained results indicated that the maximum obtained deformation had a value of 1.41073 \(\times\) 10\({}^{-5}\) m, generated in the bolt that joins the linear actuator with the mechanism that exerts proximal phalanx movement. With these data it could be concluded that the maximum deformation present in the mechanism elements was relatively small and that the use of ABS plastic in the prototype was viable.  
In future work, improvements to the proposed design are expected to allow satisfactory functionality to be obtained. Likewise, various improvements are contemplated, which include better design parameter definitions and mechanism dimensions based on the anthropometric measurements of people of all ages, with the objective that the mechanism have a good performance for application in rehabilitation, to adapt sensor implementation designs that allows monitoring the movement of fingers phalanges. In addition, where the mechanism exerts movement, the use of another material type that allows optimal link manufacturing of the mechanism and to implement the proposed linear actuator in the prototype should be aims.  
[PERSON] implemented the mathematical modeling, developed the simulations, and wrote the paper. [PERSON] reviewed the mathematical modeling and simulations. [PERSON] and [PERSON] analyzed and reviewed the paper structure. [PERSON] and [PERSON] carried out the literature review and recommended a suitable journal. All authors have read and agreed to the published version of the manuscript.  
This research received no external funding.  
Not applicable.  
The authors declare no conflict of interest.