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

Kaya Z. E., YILMAZ A.

COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE, cilt.183, 2020 (SCI-Expanded) identifier identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 183
  • Basım Tarihi: 2020
  • Doi Numarası: 10.1016/j.cmpb.2019.105085
  • Dergi Adı: COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE
  • Derginin Tarandığı İndeksler: 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 Üniversitesi Adresli: Evet

Özet

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.