Performance analysis of flexible intelligent hand prosthesis

The study of flexible intelligent hand prosthesis has important practical significance for handicapped people. Aiming at the grasping force control of flexible hand prosthesis, this paper draws lessons from the anatomical structure design of human hand, and proposes a fingertip grasping force control method based on linear tension feedback. The control strategy can realize the stable control of fingertip grasping force. The static mechanical model of finger is established, and the mathematical relationship of fingertip contact force calculation in static state is obtained. Then a friction compensation method is proposed. The experimental results show that the fitting value of the friction moment of the lasso matches well with the test value, and the error after friction compensation is obviously reduced.