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Development of trajectory and force controllers for 3-joint string-tube actuated finger prosthesis based on bond graph modeling

Author:
Mishra, Neeraj  Vaz, Anand  


Journal:
MECHANISM AND MACHINE THEORY


Issue Date:
2020


Abstract(summary):

The bond graph modeling and simulation of a redundant underactuated three-joint string-tube based prosthetic finger mechanism in the unlike configuration, for a class of prosthesis for a partially impaired hand, was presented for the implementation of the concept of opposition space for prehensile tasks. This work is its extension and systematically develops the structural basis and models for trajectory and force control schemes. The models emulate the abstract virtual domain of the intended task and the Central Nervous System (CNS), which provides control commands to the natural active finger joints, for the tracking control of desired position and force trajectories. The model for force control tracking has been developed systematically by utilizing the concept of causality from the bond graph model, where the motion of an infinitesimal mass is used as a trajectory input command for the generation of the desired force at the fingertip-object interface. The control models derived from their respective bond graphs do not require inverse kinematics to be worked out, and have been validated through simulations. (C) 2019 Elsevier Ltd. All rights reserved.


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