Bond Graph Modelling of a Hand Prosthesis during Contact Interaction

A. Vaz (India) and S. Hirai (Japan)

Keywords

Bond Graphs, Modelling and Simulation, Prosthesis.

Abstract

Bond graph modeling of a prosthetic mechanism, proposed earlier by the authors, is presented here. The prosthesis is useful for persons who have lost some, but not all, fingers of the hand, and have the ability to use the remaining fingers. The mechanism uses the ability of these remaining fingers on the hand to provide movement to prosthetic fingers of the mechanism. The prosthesis is to be worn on the hand as a glove. The modelling includes various components of the mechanism and the contact interaction due to soft material at the object-rigid skeletal link interface. The model has been simulated for some common tasks.

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