Modeling and simulation of an anthropomorphic hand prosthesis with an object interaction
COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE, vol.183, 2020 (SCI-Expanded, Scopus)
- Publication Type: Article / Article
- Volume: 183
- Publication Date: 2020
- Doi Number: 10.1016/j.cmpb.2019.105085
- Journal Name: COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE
- Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Academic Search Premier, PASCAL, Applied Science & Technology Source, BIOSIS, Biotechnology Research Abstracts, Compendex, Computer & Applied Sciences, EMBASE, INSPEC, MEDLINE
- Hacettepe University Affiliated: Yes
Abstract
Background and Objective: Kinematic and dynamic modeling of any physical process is critical especially for the design phase of associated control units and the prediction of their performance levels. In this paper, a dynamical model and a development frame including interactions with the objects for a tendon-driven underactuated hand are developed and examined. Using the proposed dynamic model, free movement and the object interaction of the underactuated hand can be simulated with a single, integrated simulation step in the simulation frame.