Approximate model for interactive-tendon driven mechanism of a multiple-DoFs myoelectric prosthetic hand

Abstract

For practical use, a myoelectric prosthetic hand needs to (1) have a human-like structure, (2) be lightweight, (3) have multiple degrees of freedom (DoFs), and (4) have a high grip force. We have developed a myoelectric prosthetic hand with an interactive-tendon driven mechanism. This paper describes the control method by which the interactive-tendon driven mechanism produces fine and precise actions, as well as an approximate model for the control method. The approximate model was developed based on a geometry model and an equilibrium model for the joint torque. Experimental results show that the joint motions of the actual robotic hand are controlled with errors of between 9 and 15% using the approximate model.