Experimental Results

\label{Results}

Measurement of maximum angle of flexion of finger mechanism.

An experimental setup was being created to determine how maximum angle of movement of each finger mechanism. Before the start of the experiment, angles of each folding were been measured to predict the maximum angle of movement of each finger mechanism. During the experiment, the finger mechanism was actuated to the point where the wheel and axle system experienced and equal and opposite force that prevents it from moving further.
Two distinctive designs are tested for Index Finger Mechanism and Middle Finger Mechanism. The main mechanism of Design 1 for both finger design has only origami/kirigami folding at the position of each finger segment. On the other hand, the mechanism of Design 2 has V-shape cuttings at the side of the origami/kirigami folding to aid in the flexion/extension of the finger mechanism. The Thumb Mechanism focus on the angle of movement in abbuction and abduction.
From the results obtained, it is observed that certain origami/kirgami folding in each segment did not closed up fully as predicted. A stress analysis was then conduct on one of the fingers to investigate on the reason behind.