Modeling and simulation of an anthropomorphic hand prosthesis with an object interaction

Area of Science:

• Robotics
• Mechanical Engineering
• Control Systems

Background:

• Dynamic modeling is crucial for designing and predicting the performance of control units.
• Underactuated robotic hands present unique modeling challenges due to limited actuators.

Purpose of the Study:

• To develop and examine a dynamic model for a tendon-driven underactuated hand.
• To create a simulation framework for analyzing free movement and object interaction.
• To enable integrated simulation of underactuated hand dynamics.

Main Methods:

• Lagrangian Method used for dynamic modeling of fingers and thumb.
• Modeling of finger-object interaction through contact forces on joints.
• Simulation of the unified dynamic model using Simulink.

Main Results:

• Simulations demonstrated realistic modeling of adaptability and joint torque levels.
• Finger flexion achieved realistic torque levels suitable for standard actuators.
• Contact instants and phalanx distances were accurately simulated under varying tendon forces.

Conclusions:

• The simulation platform is valuable for researchers developing control methods for underactuated prosthetic hands and robot manipulators.
• Detailed analysis of dynamic responses for each finger phalanx is possible at any design stage.