Grasping Position Estimation for Prosthetic Hand

For multi-freedom prosthetic hand, grasping stability is very important. Force closure method is often used to determine grasping force of each finger. The space position information must be obtained to compute grasping force by using this method. However, for prosthetic hand, the space position is hardly to get because angle sensors cannot be used. Thus dynamics model of tendon-driven prosthetic hand is built and solved by using the finite difference method and newton iteration algorithm base on the information of motor. Numerical simulation demonstrates that the method realizes the goal of calculating position approximately in real time and verifies the high efficiency and enough accuracy of the method.