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Validation of Fingertip Force in the ACT Hand Index Finger and Bond Graph Tendon Model

[+] Author Affiliations
Raymond J. King, Stephen A. Mascaro

University of Utah, Salt Lake City, UT

Taylor D. Niehues, Prashant Rao, Ashish D. Deshpande

University of Texas at Austin, Austin, TX

Paper No. DSCC2015-9620, pp. V002T34A002; 8 pages
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5725-0
  • Copyright © 2015 by ASME


The Anatomically Correct Testbed (ACT) Hand was designed to allow researchers to explore the properties of the human hand without the need for cadaver specimens. Previous experiments to validate the anatomical accuracy of the ACT Hand have been performed to comparing the moment arms, the mechanical advantage of the tendons on each joint, to cadaver studies. Here, an experiment involving the individual tendon loading of the ACT index finger was performed as additional anatomical validation of the ACT Hand. These experiments were used to compare the ACT index finger to an index finger cadaver study and validate a bond graph model of the index finger tendon system. The results showed agreement (less than two standard deviations) between the fingertip forces of the ACT index finger and cadaver studies. The results also showed agreement (less than one standard deviation) between the fingertip forces of the ACT index finger and the presented bond graph tendon model.

Copyright © 2015 by ASME
Topics: Tendons



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