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Design of a cosmetic glove stiffness compensation mechanism for toddler-sized hand prostheses

Fig 3

Geometry and force analysis of the mechanism.

(a) The used rolling link mechanism and used geometric annotations. In (b), the free body diagram is shown of the roller inside the encircled area, together with the accompanying force triangle in which the forces are in balance. The vertical component of force FR directly contributes to the total compensation force Fcomp.

Fig 3