Control Of Intelligent Bionic Hand Based On ADAMS Virtual Prototype

Because of the important role of intelligent bionic hand in practical industrialapplication, it becomes a mainstream on bionic research and attracts the attention ofdomestic and overseas scholars. No matter on daily work or dealing with psychologicaldecompression, intelligent bionic hand can bring a great help to the disabled. Despite someprogress, the theoretical and experimental research for intelligent bionic hand still cannotmeet people’s requirements. The main reasons contain: few degrees of freedom(DOFs), fewaction, low efficiency, poor portability and high cost. Therefore the development of bionichands highly close to hands of nature person can improve efficiency and user’s comfort.This paper studies the development of virtual prototype for the intelligent bionic hand andthe design of control algorithms.Firstly, in order to reduce the unnecessary time-consuming and supplies during theprocess of developing actual physical prototype for intelligent bionic hand, and to improvedesign efficiency, we use virtual technology to build a simulation system based on variousparameters of a natural hand, utilizing Adams virtual prototype to build intelligent bionichand model with14DOFs, which is the same as a real hand. The bionic hand model has twojoints on the thumb, and three joints on other fingers, which accords with the physiologicalstructure of a normal human hand and reflects full consideration of bionics.Secondly, researching, simulating and verifying the kinetic model for intelligent bionichand. In this paper, we mainly build the dynamic equations of every fingers on the bionichand according to the three link model, and design PD and sliding controller, in order torealize the simulation of intelligent bionic hand theory, and to verify the reasonability of theintelligent bionic hand we build.Finally, research on the online real-time control of intelligent bionic hand. In this paper,aiming at the geometric model for intelligent bionic hand built in Adams and the controlsystem built in Matlab/Simulink, we mainly adjust the parameters and apply co-simulationof Adams and Matlab via the interfaces between two software, and realize online real-timecontrol system of intelligent bionic hand, combining with previous laboratory-basedrecognition pattern, which is essential to the development of latter entity prototype.