Modeling contact interaction of a hand prosthesis with soft tissue at the interface
Modeling contact interaction of a hand prosthesis with soft tissue at the interface
复制标题
模拟手假体与软组织界面处的接触相互作用
DOI：
10.1109/icsmc.2003.1245694
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
S. Hirai
中科院分区：
文献类型：
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作者：
Joseph Anand Vaz;S. Hirai
利用作者提出的假肢机构来研究与物体的接触相互作用现象及其操纵是一件有趣的事情。由于存在柔软的指尖，以及接触界面上滑动和滚动的组合动作，这项任务变得具有挑战性。给出了假体单自由度和二自由度接触现象的详细键合图模型。对假肢系统中遇到的由于指尖在操纵物体时的柔软性、致动弦的延伸性及其内部阻尼、关节处的轴承摩擦等产生的影响进行了建模。
It is interesting to study the phenomenon of contact interaction with an object and its manipulation using prosthetic mechanism proposed earlier by the authors. The task is made challenging due to the presence of soft fingertips, and the combined action of sliding and rolling at the contact interface. Detailed bond graph modeling of the contact phenomenon for one and two degrees of freedom of the prosthesis is presented. Effects due to softness of the fingertips while manipulating an object, extensibility of actuation strings and their internal damping, bearing friction at joints, etc., which are encountered in the prosthetic system, are modeled.
使用剩余的自然手指驱动拇指假体
DOI：
--
发表时间：
2003
期刊：
proceedings of 2003 IEEE/RSJ Int.Conf.on Intelligent Robots and Systems (IROS2003)
影响因子：
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作者：
Anand Vaz;Shinichi Hirai
通讯作者：
Shinichi Hirai