Finger Roll-Up Prevention Mechanism for Control of Flexion Rate in a Cable-Driven Grasping Exoskeleton.

This paper presents the design and implementation of an Anti-Finger Roll-Up (AFRU) mechanism for a cable-driven grasp assistance exoskeleton. Finger rollup describes the premature flexion of the distal and proximal interphalangeal joints relative to the metacarpophalangeal joint as a result of a cable pulling directly on the fingertip. This leads to unstable pinching grasps or grasps that place the target object outside of the grasp envelope.