Modeling the Dynamics of Prosthetic Fingers for the Development of Predictive Control Algorithms

José Vicente García-Ortíz (), Marta C. Mora and Joaquín Cerdá-Boluda
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José Vicente García-Ortíz: Departament d’Enginyeria Mecànica i Construcció (EMC), Universitat Jaume I, 12071 Castelló de la Plana, Spain
Marta C. Mora: Departament d’Enginyeria Mecànica i Construcció (EMC), Universitat Jaume I, 12071 Castelló de la Plana, Spain
Joaquín Cerdá-Boluda: Instituto de Instrumentación para Imagen Molecular (I3M), Universitat Politècnica de València, 46020 Valencia, Spain

Mathematics, 2024, vol. 12, issue 20, 1-15

Abstract: In the field of biomechanical modeling, the development of a prosthetic hand with dexterity comparable to the human hand is a multidisciplinary challenge involving complex mechatronic systems, intuitive control schemes, and effective body interfaces. Most current commercial prostheses offer limited functionality, typically only one or two degrees of freedom (DoF), resulting in reduced user adoption due to discomfort and lack of functionality. This research aims to design a computationally efficient low-level control algorithm for prosthetic hand fingers to be able to (a) accurately manage finger positions, (b) anticipate future information, and (c) minimize power consumption. The methodology employed is known as model-based predictive control (MBPC) and starts with the application of linear identification techniques to model the system dynamics. Then, the identified model is used to implement a generalized predictive control (GPC) algorithm, which optimizes the control effort and system performance. A test bench is used for experimental validation, and the results demonstrate that the proposed control scheme significantly improves the prosthesis’ dexterity and energy efficiency, enhancing its potential for daily use by people with hand loss.

Keywords: biomechanical modeling; prosthetic hand; mechatronics; model-based predictive control (MBPC); generalized predictive control (GPC); dexterity; energy efficiency (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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