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. 2020 Dec 18;8:592637. doi: 10.3389/fbioe.2020.592637

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Copyright © 2020 Shi, Heung, Tang, Tong and Li.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Attachment of the SECA to finger with the hand base during MCP joint stiffness measurement. θ_{0_ m} is the initial resting angle of MCP joint, θ_{i_ m} is the extended MCP joint angle upon wearing of the SECA in a unpressurized state, and k_m is the measured MCP joint stiffness. The hardware setup followed our previous work in Heung et al. (2020). The movement of SECA is controlled by input pneumatic pressure. A camera remains on top of the index finger for recording the passive MCP joint rotation.