Figure 8From: Design and preliminary evaluation of the FINGER rehabilitation robot: controlling challenge and quantifying finger individuation during musical computer game playFINGER assembly. FINGER robot with two 8-bar finger curling mechanisms and two actuators (top), and close-up of index and middle fingers attached to the robot (bottom). The proximal phalanx finger-cup is fixed at an angle but the middle phalanx is free to rotate.Back to article page