Abstract The bond graph modeling and simulation of a redundant underactuated three-joint string-tube based prosthetic finger mechanism in the unlike configuration, for a class of prosthesis for a partially impaired hand, was presented for the implementation of the concept of opposition space for prehensile tasks. This work is its extension and systematically develops the structural basis and models for trajectory and force control schemes. The models emulate the abstract virtual domain of the intended task and the Central Nervous System (CNS), which provides control commands to the natural active finger joints, for the tracking control of desired position and force trajectories. The model for force control tracking has been developed systematically by utilizing the concept of causality from the bond graph model, where the motion of an infinitesimal mass is used as a trajectory input command for the generation of the desired force at the fingertip-object interface. The control models derived from their respective bond graphs do not require inverse kinematics to be worked out, and have been validated through simulations.

中文翻译：

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基于键合图建模的三关节串管假肢轨迹和力控制器的研制

摘要 针对一类部分受损手的假肢，提出了基于不同配置的冗余欠驱动三关节线管假肢手指机构的键合图建模和仿真，以实现抓握对立空间的概念。任务。这项工作是它的延伸，系统地开发了轨迹和力控制方案的结构基础和模型。这些模型模拟预期任务和中枢神经系统 (CNS) 的抽象虚拟域，它向自然活动手指关节提供控制命令，以跟踪控制所需的位置和力轨迹。利用键图模型中的因果关系概念，系统地开发了力控制跟踪模型，其中无穷小质量的运动用作轨迹输入命令，用于在指尖-对象界面处生成所需的力。从它们各自的键图中导出的控制模型不需要计算逆运动学，并且已经通过模拟得到验证。