Local Hand Control for Tezpur University Bionic Hand Grasping

Authors:
Nayan M. Kakoty;Shyamanta M. Hazarika
Affiliations:
Biomimetic and Cognitive Robotics Lab, School of Engineering, Tezpur University, INDIA;Biomimetic and Cognitive Robotics Lab, School of Engineering, Tezpur University, INDIA
Venue:
Proceedings of Conference on Advances In Robotics
Year:
2013

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Abstract

Tezpur University (TU) Bionic Hand is a biomimetic extreme upper limb prosthesis. The Hand is intended to emulate grasping operations involved during 70% of daily living activities and have been developed using a biomimetic approach. This paper focus on the development of a local hand control for grasping by TU Bionic Hand. Grasp primitives: finger joint angular positions and joint torques are derived through kinematic and dynamic analysis. TU Bionic Hand emulates the grasp types following the dynamic constraints of human hand. The joint angle trajectories and velocity profiles of the Hand finger are in close approximation to those of the human finger.