Abstract
Abstract Physiological studies of the human finger
indicate that friction in the tendon-pulley system
accounts for a considerable fraction of the total
output force (9?12\%) in a high-load static
posteccentric configuration. Such a phenomenon can be
exploited for robotic and prosthetic applications, as
it can result in (1) an increase of output force or (2)
a reduction of energy consumption and actuator weight.
In this study, a simple frictional, two-link,
one-degree-of-freedom model of a human finger was
created. The model is validated against in vitro human
finger data, and its behavior is examined with respect
to select physiological parameters. The results point
to clear benefits of incorporating friction in
tendon-driven robotic fingers for actuator mass and
output force. If it is indeed the case that the
majority of high-load hand grasps are posteccentric,
there is a clear benefit of incorporating friction in
tendon-driven prosthetic hand replacements.
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