Modeling a Hand Prosthesis with Word Bond Graph Objects
Modeling a Hand Prosthesis with Word Bond Graph Objects
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发表时间：
2004
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通讯作者：
A. Vaz;S. Hirai
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作者：
A. Vaz;S. Hirai
使用键合图方法对手部假肢系统进行建模，该系统相当大，便于用单键合图或多键合图表示。在对生物力学系统进行建模时，通常是这种情况。为了便于该系统的紧凑建模，应用文字键合图的概念将组件子系统表示为对象。这样的文字键合图对象(WBGO)是整个系统内的子系统的紧凑表示，并且具有定义良好的结构。它们保留了对物理系统的理解，同时由于其面向对象的结构，促进了数值模拟的快速和容易的编程。本文对手部假肢系统的WBGO进行了识别和分析，包括刚性手指连杆动力学、两个连续手指连杆之间的平移和转动耦合以及由自然主动关节被动驱动假肢关节的弦管力学。文中给出了每个WBGO的键合图细节，并推导了它们的系统方程。然后，WBGO被用来集成手假体系统的动力学的完整组件。
The bond graph approach is used to model a hand prosthesis system, which is quite large to represent conveniently using either single or multibond graphs. This is usually the case with modeling biomechanical systems. To facilitate compact modeling of this system, the concept of Word Bond Graphs is applied to represent component subsystems as Objects. Such Word Bond Graph Objects (WBGO) are compact representations of subsystems, within the overall system, and have a well defined structure. They preserve an understanding of the physical system while facilitating quick and easy programming for numerical simulations due to their object oriented structure. WBGO identified and analyzed here for the hand prosthesis system include rigid finger link dynamics, translational and rotational coupling between two consecutive finger links, and string-tube mechanics for passive prosthetic joint actuation by natural active joints. The bond graph details for each WBGO have been presented together with a derivation of their system equations. The WBGO are then used to integrate a complete assembly of the dynamics of the hand prosthesis system.