Dergi makalesi Açık Erişim

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

2020    Kaya, Zahit Evren; Yilmaz, Atila

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.