A Control System for a Human Finger Prosthesis with a Cord Mechanism
Published: 06.05.2026
Authors: Shishkov I.A., Scherbak O.Yu., Maslennikov A.L.
Published in issue: #5(173)/2026
Category: Mechanics | Chapter: Biomechanics and Bioengineering
The paper considers a control system for human finger prosthesis with a cord mechanism configuration. A mathematical model of a flat three-link pendulum is used as a finger prosthesis model, considering physical limitations on the possible angles of each link. The cord mechanism considered in this paper consists of four independent cords, each of which is attached to a corresponding prosthesis link at a specified distance. Each cord is independently controlled by a DC electric motor. Control is implemented using PI controllers based on errors in the specified angular position of each prosthesis link. For this purpose, the required cord tension force is calculated based on the specified angular positions of each prosthesis link, which is used to generate actuator loading moments. The control system is tuned using a genetic algorithm. To test the proposed approach, a numerical experiment was conducted, which demonstrated the applicability of the considered control system for a human finger prosthesis with a cord mechanism.
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