Figure 2.

(a,b) Photos of the worn glove from dorsal and palmar viewpoints. (c) Photo of the postural synergy-inducing spool. (d,e) Illustration of the synergy-based, robotic glove. Diagram detailing the transmission paths and sensor placement of the synergy-based glove system. Coiled Bowden sheaths (black) are rigidly anchored on the palmar side of the hand. The tendons (red) extend from these points and are routed on the sagittal plane of each respective finger before rigidly anchoring at its tip. Anchor points (dots) restrain the tendons to the glove along these routing paths and allow for torques to be generated about each joint of the finger. Passive extensor bands (blue) coerce the fingers into an extended position while relaxed. The anchor points of these extensors are attached by Velcro and may be easily adjusted with the off-hand to fit the preferences of the wearer.