Bond graph modeling with linear quadratic integral control synthesis of a robotic digit in a human impaired hand for anthropomorphic coordination

Abstract

The movement coordination of the robotic digit(s) with the central nervous system (CNS) and the natural digit(s) is a complex task that needs to be executed successfully in an anthropomorphic hand. The task is challenging to resolve because of the CNS. We developed a theoretical framework for the biomechanical model of a partially impaired human hand utilizing the bond graph modeling technique by incorporating inertia, muscle, and visco-elastic dynamics. The research presents a partially impaired human hand model with a robotic digit and four natural digits having 21 degrees of freedom. We formulated a linear quadratic Gaussian (LQG) integral control technique for the 21st-order model to regulate the flexion and extension movement of the robotic digit while considering the disturbances. We have simulated the modeling scheme in MATLAB/Simulink. The flexion and extension movement and the angular velocity of the robotic finger are shown to be following all the physiological constraints of a natural finger. The settling time is achieved at 1.6 seconds, with a maximum flexion angle of 0.135 rad. The sensitivity analysis shows that the model is robust against disturbances. The simulation results exhibit the application of this scheme toward upper limb rehabilitation and improvement in prosthetic and exoskeleton designs.