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Force model for control of tendon driven hands
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Pena, Edward Thompson, David E. |
| Copyright Year | 1997 |
| Description | Knowing the tendon forces generated for a given task such as grasping via a model, an artificial hand can be controlled. A two-dimensional force model for the index finger was developed. This system is assumed to be in static equilibrium, therefore, the equations of equilibrium were applied at each joint. Constraint equations describing the tendon branch connectivity were used. Gaussian elimination was used to solve for the unknowns of the Linear system. Results from initial work on estimating tendon forces in post-operative hands during active motion therapy were discussed. The results are important for understanding the effects of hand position on tendon tension, elastic effects on tendon tension, and overall functional anatomy of the hand. |
| File Size | 143096 |
| Page Count | 6 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_20010000457 |
| Archival Resource Key | ark:/13960/t0xq1xs9m |
| Language | English |
| Publisher Date | 1997-02-01 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics, Artificial Intelligence And Robotics Linear Systems Prosthetic Devices Robot Arms Biodynamics Gaussian Elimination Fingers Mathematical Models End Effectors Tendons Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
