Bond graph modeling of an anthropomorphic prosthetic hand

摘要

Since the advent of technology, prosthesis has morphed from providing simple use to being able to fully provide human like functionality. This paper presents the design of such a prosthetic hand that is capable of flexion in order to grip and hold the object, and extension which helps to release the object and revert back. Our proposed design is aimed to model a cost effective prototype that is able to perform basic gripping functions. Each finger is independent with 1 DoF for each finger and 5 DoF for the entire hand. Bond graph modeling technique is used for the prosthesis modeling as it delineates the power exchange of the system and further aids to simulate the system equations, which is achieved through the 20-sim software.