Pinching motions are important for holding and retaining objects with precision. Therefore, training exercises for the thumb and index finger are extremely important in the field of hand rehabilitation. Considering the need for training convenience, we developed a device and a driving system to assist pinching motions actively via a lightweight, simple, and wireless mechanism driven by the magnetic forces and torques generated by magnets attached to the tip of these two fingers. This device provides accurate pinching motions through the linking structures connecting the two magnets. The fabricated device has minimal mechanical elements with an ultralightweight of 57.2 g. The magnetic field, the intensity of which is based on the time variant, generates a pinching motion between the thumb and index finger, thus rendering it possible to achieve repetitive training. To verify the generation of an active pinching motion, we fabricated a finger model using a 3D printer and a rubber sheet and observed the active motions generated by the newly developed device. We also verified the performance of the proposed mechanism and driving method via various experiments and magnetic simulations. The proposed mechanism represents an important breakthrough for patients requiring hand rehabilitation and wearable assistive motion devices.

中文翻译：

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主动辅助捏合运动的无情操控机制及分析

捏合运动对于精确地保持和保持物体很重要。因此，拇指和食指的训练练习在手部康复领域极为重要。考虑到训练方便的需要，我们开发了一种设备和驱动系统，通过连接在这两个手指尖上的磁铁产生的磁力和扭矩驱动的轻巧、简单和无线的机构来主动辅助捏合运动。该装置通过连接两个磁铁的连接结构提供准确的挤压运动。制造的设备具有最少的机械元件，重量仅为 57.2 g。磁场强度随时间变化，在拇指和食指之间产生收缩运动，从而实现重复训练成为可能。为了验证主动捏合运动的产生，我们使用 3D 打印机和橡胶板制作了一个手指模型，并观察了新开发的设备产生的主动运动。我们还通过各种实验和磁模拟验证了所提出的机制和驱动方法的性能。对于需要手部康复和可穿戴辅助运动设备的患者来说，所提出的机制代表了一个重要的突破。我们还通过各种实验和磁模拟验证了所提出的机制和驱动方法的性能。对于需要手部康复和可穿戴辅助运动设备的患者来说，所提出的机制代表了一个重要的突破。我们还通过各种实验和磁模拟验证了所提出的机制和驱动方法的性能。对于需要手部康复和可穿戴辅助运动设备的患者来说，所提出的机制代表了一个重要的突破。