Bond graph modelling of a customized anthropomorphic prosthetic hand with LQR control synthesis

Biomechanics and prostheses is important research area in current world scenario both for defense and civilian applications. Almost 90% of prosthesis these days are body-powered and cable controlled that are very uncomfortable to amputees. Recent advancement in bionics, miniaturized manufacturing and 3D printing lead the prosthetic in a more affordable and reliable solutions. In this paper, we present modelling and control of an anthropomorphic prosthetic hand with detail analytical understanding. Bond graph modelling approach is used for detailed model for the digital simulation of prosthesis. The prosthetic hand has five phalanges, each actuated by individual motors, controlling each finger and allowing the hand to move and grip in a natural, coordinated way. Furthermore, state space equations are computed to analyze the model dynamics and responses. Finally, our model is synthesized with LQR controller in order to regulate the movement of phalanges precisely for better mimicry of the prosthetic hand with human hand.