This paper presents a numerical and experimental validation of ExoFing, a two-degrees-of-freedom finger mechanism exoskeleton. The main functionalities of this device are investigated by focusing on its kinematic model and by computing its main operation characteristics via numerical simulations. Experimental tests are designed and carried out for validating both the engineering feasibility and effectiveness of the ExoFing system aiming at achieving a human index finger motion assistance with cost-oriented and user-friendly features.

In this paper, an application is presented of a cable-based parallel manipulator as measuring system for an experimental identification of human walking characteristics. Experimental results have been obtained by means of a new version of CaTraSys (Cassino Tracking System), which is a measuring system that has been designed and built at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. The new version of the CaTraSys system has been used to determine the trajectory of the human limb extremity during walking operation and furthermore the system is able to measure forces that are exerted by a limb. Experimental determination of articulation mobility is also presented with numerical and experimental results.

A characterization of singularities for a six-wire parallel architecture is presented as a result of numerical and experimental analyses. Numerical analysis has been developed through geometrical and analytical considerations. The study is based on a classification that has been derived on the basis of the geometry of tetrahedra, and singular configurations have been classified as a function of the tetrahedron volume. Experimental characterization has been carried out by considering the wire parallel architecture Cassino tracking system (CATRASYS). Experimental results are reported to characterize the performance of the CATRASYS chain in different operating conditions as an illustrative practical example.