Simultaneous Kinematic and Contact Force Modeling of a Human Finger Tendon System Using Bond Graphs and Robotic Validation

Abstract

This paper aims to use bond graph modeling to create the most comprehensive finger tendon model and simulation to date. Current models are limited to either kinematic motion without external contact or fixed finger force transmission from tendons to fingertip. The model, presented in this work, uses a bond graph to simultaneously simulate the kinematics of tendon-finger motion and contact forces of a central finger given finger tendon inputs. The equations derived from the bond graph model are accompanied by nonlinear relationships modeling the anatomical complexities of moment arms, tendon slacking, and joint range of motion. The structure of the model is validated using a robotic testbed, Utah's Anatomically-correct Robotic Testbed (UART) finger. Experimental motion of the UART finger during free motion (no external contact) and surface contact are simulated using the bond graph model. The contact forces during the surface contact experiments are also simulated. On average the model was able to predict the steady-state pose of the finger with joint angle errors less than 6 degrees across both free motion and surface contact experiments. The static contact forces were accurately predicted with an average of 11.5% force magnitude error and average direction error of 12 degrees.