*3.4. Experimental Testing*

Testing was carried out using measurements provided by the exoskeleton electronics and by video processing and recognition software. Electronics used for the exoskeleton were specifically designed and manufactured for this application. The data provided by the on-board electronics (as described in previous work) [44] were transferred via RS232 communication protocol onto a PC. The video recognition software was applied to determine trajectories and laws of motion of key points on the exoskeleton. A high-speed camera is required to capture the fast movement of the mechanical components. In the experimental section of this paper, a camera with 240 frames per second was used to capture the video data. The motion of one exoskeleton finger was studied with and without the operator's hand in the device.
