Modeling and implementation of a simplified human tendon structure in a robotic finger

This article presents a prototype robotic finger that has more human-like functionality than other simplified robotic fingers but is more manufacturable than efforts to directly copy human anatomy. A mathematical model that captures the relationship between joint angles and tendon excursions for the finger's simplified flexor and extensor systems is developed. The model is tested experimentally and shown to have good fidelity over the majority of the finger's workspace. The model also provides unique insight into the relationship between the finger's bone structure and tendon arrangements that is absent in other works.