*Article* **Design of Multiple Wearable Robotic Extra Fingers for Human Hand Augmentation**

**Monica Malvezzi 1,\*, Zubair Iqbal 1, Maria Cristina Valigi 2, Maria Pozzi 1,3, Domenico Prattichizzo 1,3 and Gionata Salvietti 1,3**


Received: 4 November 2019; Accepted: 8 December 2019; Published: 11 December 2019

**Abstract:** Augmenting the human hand with robotic extra fingers is a cutting-edge research topic and has many potential applications, in particular as a compensatory and rehabilitation tool for patients with upper limb impairments. Devices composed of two extra fingers are preferred with respect to single finger devices when reliable grasps, resistance to external disturbances, and higher payloads are required. Underactuation and compliance are design choices that can reduce the device complexity and weight, maintaining the adaptability to different grasped objects. When only one motor is adopted to actuate multiple fingers, a differential mechanism is necessary to decouple finger movements and distribute forces. In this paper, the main features of a wearable device composed of two robotic extra fingers are described and analyzed in terms of kinematics, statics, and mechanical resistance. Each finger is composed of modular phalanges and is actuated with a single tendon. Interphalangeal joints include a passive elastic element that allows restoring the initial reference configuration when the tendon is released. The stiffness of each passive element can be customized in the manufacturing process and can be chosen according to a desired closure movement of the fingers. Another key aspect of the device is the differential system connecting the actuator to the fingers.

**Keywords:** wearable robots; underactuated robots; robotic manipulation

## **1. Introduction**
