Prosthetic hand module using electromechanical actuators: A simulation

Mechatronic structure for automated upper limb prosthesis is a new direction for the traditional mechanical prosthetic industry. This paper targets the said area and focuses on the simulation of control of mechatronic based structure of four fingers. The designing of each finger consists of one active DoF followed by a passive DoF. Where each finger is controlled by the input force supposedly calculated from Electromyography signal of the radia-carpi and ulnaris-carpi muscles of the hand. A unity feedback PI (lag) controller along with saturation limiter is used to effectively control the RPM of the actuator module; that is composed of a DC motor followed by worm-gear setup and lead screw system. The complete simulation module is design in Simulink-Simscape toolbox.