Bond Graph Based Design of Prosthesis for Partially
Impaired Hands
Anand Vaz
Department of Mechanical Engineering
SLIET, Longowal, District Sangrur
Punjab 148106, India
anandvaz@ieee.org
Abstract—In this work, concepts for the actuation of a prosthesis
for a partially impaired hand are developed systematically. The
partial impairment implies that the hand has lost one or more
fingers but retains the ability of its remaining natural fingers. It
is shown that the existing natural joints can be used for the
actuation of prosthetic finger joints and enable performance of
tasks that would not have been possible otherwise. This is a
challenging task as motion has to be transmitted from the
remaining natural joints to the prosthetic joints. The joint axes
move with respect to each other during performance of tasks and
do not have any fixed relative orientation. String-tube actuation
mechanisms, developed earlier by the authors, are presented and
analyzed. Bond graphs are used for modeling and simulation of
the system dynamics of the proposed prosthetic mechanisms.
While the ideas for the proposed prosthesis are of immense help
for rehabilitation of the impaired, the approach used for
modeling will also be of interest to researchers in the areas of
robotics, system dynamics and control.
Keywords-bond graphs; hand prosthesis; modeling; simulation
I. INTRODUCTION
The objective of this work is to present an alternative
method to the modeling of a class of prosthesis for the human
hand. The prostheses have been proposed earlier by the authors
[1], and are based on actuation of prosthetic fingers by the
remaining natural fingers of a partially impaired hand.
Development of prosthesis for the human hand has been of
much interest in recent times. This activity is of significance
due to the role of prosthesis in rehabilitation of the affected
person [2]. The process of development involves a detailed
study of the human hand and its amazing capabilities. The
fingers, their bones, joints, skin, palm, muscles, nerves,
working under the guidance and control of the Central Nervous
System (CNS) make the hand extremely versatile [3], [4].
Researchers in robotics have shown much interest and made
systematic contributions to the understanding of the human
hand. Systematic classifications of the hand postures, useful
both to the robotics and medical community are now available
[3], [5]. This has also led to the development of robotic hands
with the ability to grasp and manipulate objects in a dexterous
manner [6], [5], [4], [7].
Shinichi Hirai
Department of Robotics
Ritsumeikan University, Noji-higashi 1-1-1
Kusatsu, Shiga 525-8577, Japan
hirai@se.ritsumei.ac.jp
Modeling is an important aspect in the development of
prosthetic mechanisms. Mathematical models help in
understanding the behavior of the prosthesis during the process
of design and performance evaluation. The mechanism and
controls for the prosthesis can be designed effectively based on
availability of good models. It is of interest and importance to
study, analyze and simulate the behavior, actuation principles
and working of such devices while they perform general tasks.
The method of Bond graphs is an attractive and powerful
technique for the modeling of such prosthetic systems. It offers
a unified framework for the modeling of mechanisms, the
actuation and control systems modeling due to its capability of
handling multi-energy domains.
In the prosthesis proposed earlier by the authors, the
actuation of joints on prosthetic fingers is carried out by
corresponding joints on natural remaining fingers [1], [8], [9].
While performing tasks with the prosthesis, the axes of active
natural joints have motion relative to corresponding passive
prosthetic joints which they actuate. The joint axes need not be
fixed or parallel with respect to each while working with the
prosthesis. This requires transmission mechanisms that are
flexible yet positive displacement type, quite a challenging
task. The method of bond graphs has been applied to the
modeling of string-tube based joint actuation mechanisms. It
provides a clear perspective into the system dynamics of such
prosthetic devices and their actuation.
Organization of this paper is as follows. A brief background
for the development of the prosthesis is laid out in section II.
Principles for proposed prosthesis design are discussed in
section III. The principles are realized using the string-tube
based mechanisms and modeled in section IV using bond
graphs. Derivation of system equations from the bond graph
models is presented in the same section. Vector bond graph
modules for rigid body dynamics are developed and applied to
a finger with two revolute joints as an example. A discussion
on simulation results is also presented. Section V offers a
discussion on the salient features of the proposed approach. A
brief preview to the development of active prosthesis using the
presented approach is initiated in section VI.
 II. BACKGROUND performance of tasks which would not have been possible
A scheme to identify joints on the hand is discussed below. otherwise.
Consider the skeletal link structure for the first three digits
(fingers) of the hand, during the task of handwriting, as shown A. Essential characteristics of prosthesis.
in Fig. 1 . For the impairment considered, a prosthetic device intended
M3
to provide joint actuation capabilities for fingers should have
I3
the following essential characteristics.
M4
(1). It should provide for actuation of a prosthetic joint
I4 using the abilities of an existing natural joint. The axes of
M2
finger joints move while performing a task. The axes are not
I2 fixed and also need not be parallel as the kinematic structure
continuously changes. Further, torque has to be transmitted
T3 from the natural joints to the prosthetic joints, without loss of
motion. In such challenging situations, the mechanism for
actuation of the prosthetic joints has to be accommodating and
T2 flexible. Flexibility does not mean softness in this case, but a
capability to change the configuration of the actuation
mechanism continuously.
M1
T1
I1
(2). It should be wearable, for example, like a glove on the
impaired hand. This would facilitate quick preparedness for
any task. Once the task is done it can be removed for
Fig. 1 Skeletal link structure of the first three fingers during hand writing. relaxation.
(3). It should have an aesthetic appearance.
Each digit starting from the thumb has been assigned an
alphabet. (4). The prosthesis should be affordable to the handicapped
person. It should not be a financial burden to the person who
TABLE I. IDENTIFICATION SCHEME FOR DIGITS
has already suffered a severe loss. This implies that the
mechanism should be as simple as possible, since simplicity
(Digit) Finger Alphabet and cost are almost directly related.
(1) Thumb T
(2) Index I Realization of these essential requirements using the string-
(3) Middle M tube based joint actuation scheme is discussed in the next
(4) Ring R section.
(5) Little L
III. PRINCIPLES OF ACTUATION FOR PROPOSED PROSTHESIS
The joints corresponding to each digit are further numbered
starting from the respective carpometacarpal joint at the wrist. A. String-tube based joint actuation [1]
The human finger joints are composed of rigid skeletal
In the process of analyzing natural finger movements
links (bones- phalanges and metacarpals) which are roughly
during prehension, one can observe that certain joints on
hinged so as to provide revolute motion. Although a joint is not
different fingers have corresponding movement relationships.
strictly constrained to a single degree of freedom, revolute
For example, the movement relationship between the proximal
motion about one axis is usually prominent. Actuation of the
interphalangeal joint on the index finger (I3) and the
joints is performed by muscles which are connected to these
interphalangeal joint (T3) on the thumb is very pronounced
skeletal links. Based on an analogy with the human mechanism
while writing. Another example is the correspondence between
of joint actuation, the principle can be illustrated using a string-
the metacarpophalangeal joint at the index finger (I2) and the
tube combination as shown in Fig. 2. The string-tubes play the
carpometacarpal joint (T1) where the thumb joins the wrist,
role of muscles. Since strings can be used for actuation only in
while grasping. Several correspondences between similar joints
tension, two of them are needed for the actuation of a joint as
on different fingers can be observed on the same hand while
shown. The tube ends are fixed on one link (proximal) while
performing different tasks. We can take advantage of these
the corresponding string ends are connected to the next link
correspondences by utilizing the actuation capability of a
(distal) of the same joint. Each string winds around a pulley at
natural joint on one finger to augment the movement of a joint
the joint. The pulley may be considered to be a part of the distal
on a prosthetic finger. Such actuation of prosthetic joints using
link. The relative motion between a string and its
natural joints on fingers does not increase the independent
corresponding tube results in motion of the joint in one
degrees of freedom (DOF) of the severed hand as the motion of
direction.
prosthetic joints is dependent on corresponding natural joints.
However, the use of the existing degrees of freedom, to provide The actuation of strings is required to be affected by an
actuation capability to prosthetic joints enables the existing natural joint and transmitted to the prosthetic joint. The
joint which is actuated by the natural joint is the active joint,
while the corresponding prosthetic joint which gets actuated is description of Bond graphs. Bond graph models are based on
the passive one. When the sense of rotation of the passive joint the interaction of power between the elements of the system.
is the same as that of the active joint, the configuration is said Cause-effect relationships are also depicted and help in
to be a like configuration. When the sense is opposite, it is an deriving system equations in an algorithmic manner from the
unlike configuration. It may be noted that for the like bond graph itself. The system equations are in the first order
configuration, the direction of winding of string on the active d
and passive pulleys is in the same sense, whereas, for the unlike form state space form of ( effect ) = function ( cause ) , and
dt
configuration the direction of winding on the active joint pulley are suitable for numerical integration as well as for
is opposite to that of the passive joint pulley. development of control systems and analysis based on modern
control theory. Details about the method and the art of
constructing Bond graphs can be found in [10] and [11].

P1 A2
P1 A detailed discussion on the bond graph construction
A2
A1 P2
A1 P2 θPu
follows for the unlike configuration. The dynamics of like
θA θP
l
θA configuration can also be treated in the same manner.
Consider the active joint connected to the natural finger in
String 1
String 2 Fig. 2. When the active joint is moved clockwise, as in closing
String 2
String 1 the grip, θ A decreases – clockwise, and a moment τ A is
applied about the active joint. Se : τ A is the element showing
Active joint Passive joint with Active joint Passive joint with
like configuration unlike configuration

Like configuration Unlike configuration

the effort variable, torque τ A applied at junction 1θ , as a
A
Fig. 2 Like and unlike configurations
result of movement of the active joint. Bonds connected to
It may be observed that the passive joint can be converted junction 1θ share the common flow variable θA . The moment
from a like to an unlike configuration, or vice-versa, by simply A

of inertia of the active finger link, about the joint axis, is shown
rotating the passive joint by 180D about the vertical axis.
by I : J A . The string 2 on the active finger link experiences a
For the task of handwriting, observe that joints I3 and T3 pull due to tension along the string. This force of magnitude
are in unlike configuration, whereas I3, M3 and R3 are in like F2 , is tangential to the base pulley at the joint, and is
configuration with T1. Similarly in many other common tasks
it is easy to observe a like configuration relationship among represented by the 0 F2 junction. The transformer element
joints I2, M2, R2 and L2, and also among joints I3, M3, R3 TF : r2 A relates this force to the moment it generates about the
and L3. active joint axis. Due to its power conserving nature TF : r2 A
Two string-tube pairs, almost inextensible, are used for also relates the active joint angular rate θ to the speed of
actuation of the passive prosthetic joint by the active joint A

which is attached to a natural finger joint. String 1 starts from winding of the string s2 A on the base pulley. Under the
point A1 and goes around the base pulley centered at the joint assumption that no force is lost in transmission, the string
axis, through the tube and on to the passive joint pulley, where applies this force at the fixed point P2 on the passive thumb
it is attached at point P1 . String 2 starts from the point A2 and link. This results in the development of a counter clockwise
goes around another base pulley centered at the active joint moment about the passive joint axis and consequently in the
axis, through tube 2, and on to the passive joint, where it is movement of the passive prosthetic joint. Junction 1θ
P

attached at point P2 . Since a string can actuate a finger link represents the common flow variable θP . The moment of
while it is in tension only, the strings used here are required to inertia of the passive finger link, about its joint axis, is modeled
be taut always. The strings can be passed through flexible
by I : J P .
tubing which offers high impedance to axial compression, as
discussed later. This can ensure constant string length between Two paths have been shown in the Bond graph between the
the pulleys, while maintaining appropriate string tension, even 1θ and 1θ junctions. These are on account of the two strings
if the center distance between the active and passive joint axes A P

changes. With such an arrangement, the axes of the active and 1 and 2. Initial tensions in the string-tube system are also
passive joints need not be parallel or fixed. included.
Now we consider the opening movement. The active joint
IV. BOND GRAPH MODELING OF PROSTHETIC JOINT is moved counter clockwise. θ A increases, and a counter
ACTUATION
clockwise moment τ A is applied about the active joint axis.
Models for the system dynamics of the string-tube based The string 1 on the active finger link is pulled and a force due
prosthetic mechanisms have been developed along with the to string tension is experienced at A1 , along the string. This
principles of working. Fluid based actuation also follows a
similar line of development and is therefore not discussed force is represented by the junction 0 F1 . The radius of the base
separately. The models are represented using the pictorial pulley r1 A at the active joint for string 1 can be different from
that for string 2. It has been shown intentionally to be so, using variable tension, decided by properties of string 2, and applied
the transformer element TF : r1 A , which depicts the relationship on junction 0 F2 .
between the force and the moment generated by it. TF : r1 A
p1 p2
also relates the joint angle rate θ to the speed of winding of
A
I : JA q8 I : JP q9
C :1 C :1
the string s1 . Under the assumption that no force is lost in 1 e q6 2 e
8 9
transmission, the string 1 applies this force at point P1 on the Se : τ A 3 1θA C : Ks R : Rs 1θ
2 2 P

passive thumb link. This results in the development of a 10

20
15 6 7
14
21
19

clockwise moment about the passive prosthetic joint axis. Note 1∆s
r1 A TF − r2 A 2
− r1P TF r
the difference of the signs between the transformer moduli in R : RjointATF 17 R : RjointPTF 2 P
∆s2 F
the two cases. s1 A F1 s2 A F2 2
s1P F1 s2 P F2
16 18
0F
The relationship between the joint angular rates θA and θP
2

11
given by both the string paths should be the same if the strings 0F 1 13
are considered to be inextensible. For string 1, ∆s1 F1
12

θ r 1∆s
s1 A = r1 A θA , s1P = − r1P θP , ∴ A = − 1P
1

(1)
θP
4 5
r1 A q4
C : Ks R : Rs
For string 2, 1 1

Fig. 3 Bond graph for the string-tube based joint actuation.

θ r
s2 A = − r2 A θA , s2 P = r2 P θP , ∴ A = − 2 P
θ P
r 2A
Hence
θA r r
 = − 1P = − 2 P
θP r1A
r2 A
which is a constant ratio. Amplification of torque, or
movement, from the active to the passive joint can be achieved
by designing this ratio according to the requirement.
If the string-tube combination is assumed to be
inextensible, a derivative causality results at the element I : J P .
It implies that this element is unable to contribute a state
variable to the system, and is dependent. In other words, the
motion of the passive finger is dictated by that of the active
finger. This is as expected. Considering the string-tube to be
inextensible is too ideal a property. In reality, the string length
especially between the active and passive joint pulleys is
subject to extension and the tube is subject to axial
compression. Both the stiffness and internal damping effects of
the string-tube can be modeled using elements C: K s and
R : Rs as shown in . K s depends on the Young’s modulus of
the string-tube along its length. Inertia of the string-tube
combination is neglected in this model. The stiffness and
internal damping properties for the combination of string-tube
pairs are nonlinear and have to be determined experimentally.
However, the nature of causality remains unaffected, as the
force of tension produced by the string-tube is determined by
its properties. In this case, it is assumed that the surface speed
of the string is the same as that of the pulley at contact.
In the bond graph of , the surface speeds of the active and
passive pulleys, through which strings 1 and 2 pass, are shown.
Efforts due to string tensions have been represented by
common effort junctions 0 F1 for string 1, and 0 F2 for string 2.
e12 is the effort variable tension, decided by properties of string
1, and applied on junction 0 F1 . Similarly, e17 is the effort
(2)
Bearing friction at the joints may be treated as a nonlinear
phenomenon, even though the magnitude may be very small
for rolling bearing elements. An example of such nonlinear
behavior may be given by Coulomb friction or viscous friction.
(3) However, the characteristics of friction are not a point of
emphasis here.
A. Deriving system equations
The system of Fig. 3 has 4 state variables. p1 is the angular
momentum of the active finger about the active joint axis. p2
is the angular momentum of the passive finger about the
passive joint axis. q4 = ∆s1 is the extension of string 1, and
q6 = ∆s2 is the extension of string 2. Two additional states are
obtained from the activated C elements. These are q8 = θ A and
q9 = θ P . These do not contribute to the dynamics of the system.
ei and f i represent the effort and flow respectively in bond i.
The set of effects contributed by the elements to the system
are given below
p p
f1 = θA = 1 ; f 2 = θP = 2 (4)
JA JP
e4 = function(q4 ), and e6 = function(q6 ) (5)
in the general case where elastic behavior of the string-tube
may be non-linear. For linear elastic behaviour
e4 = K s1 q4 ; and e6 = K s2 q6 (6)
Similarly,
e5 = function ( f 5 ) , and e7 = function ( f 7 ) (7)
and for the particular case of linear viscous behavior of
internal damping,
e5 = Rs1 f 5 , and e7 = Rs2 f 7 (8)
The rate of string extensions are given by
 p1 p bonds. Hence the dimension three is not indicated explicitly on
f 5 = ∆s1 = s1 A − s1P = r1 AθA + r1PθP = r1 A + r1P 2 (9) the vector bond. This is to avoid congestion in figures. Thus, if
JA JP
the flow vector f = r then { f f f } = {v v } ,
T T

p p v
f 7 = ∆s2 = s2 A − s2 P = − r2 AθA − r2 PθP = − r2 A 1 − r2 P 2
C 1 2 3 Cx Cy Cz
(10)
JA JP f = { f1 f3 } rC = {vCx vCz } .
T T
where f2 and vCy
Tensions developed in strings due to the above extensions
are Similarly, if the effort vector e = FC then
{e e3 } = {FCx FCz } , where e = {e1 e3 }
T T T
e2 FCy e2
⎛ p p ⎞ 1

F1 = e4 + e5 = K s q4 + Rs ⎜ r1 A 1 + r1P 2 ⎟
and FC = {FCx FCz } .
(11) T
1
⎝ JA
1
JP ⎠ FCy
⎛ p p ⎞
F2 = e6 + e7 = K s q6 − Rs ⎜ r2 A 1 + r2 P 2 ⎟ (12)
2
⎝ J
2
J P ⎠ e
A
e
Since the strings are able to transmit tensions only, the f f
following conditions apply: Power = e ⋅ f Power = e T f = f T e
F1 = 0, i.e., e12 = 0, if e12 < 0, and likewise Scalar bond Vector bond
(13)
F2 = 0, i.e., e17 = 0, if e17 < 0 Fig. 4 Convention for scalar and vector bonds
Bearing friction at joints is given by
The fundamental equations of motion for rigid bodies can
e20 = function ( f1 ) , and e21 = function ( f 2 ) , be represented using bond graphs as shown in Fig. 5. Both
for the general case translation and rotation for the rigid body are combined in one
(14) bond graph.
= R jointA f1 , = R jointP f 2 ,
Se : 0 Fn
for linear viscous friction characteriscs
T
The above effects are produced by functions of cause ⎡⎣ r ×⎤⎦
0
C n

applied to the system as given below. MTF 0 0

Fn

e1 = p 1 = τ A − e20 − r1 A F1 + r2 A F2 (15) I:[ M ]

⎣⎡ C I ⎦⎤ :I
0
1ω T
1 0
0 rC
0

e2 = p 2 = −e21 − r1P F1 + r2 P F2 ⎣⎡ C r1 ×⎦⎤

0 B 0
(16)
τ 1 :Se 0
p p 0 MTF 0
F1

f 4 = q4 = ∆s1 = r1 A 1 + r1P 2 (17)

JA JP
S e : 0 F1
p p
f 6 = q6 = ∆s2 = − r2 A 1 − r2 P 2 (18) Fig. 5 Bond graph representing translation and rotation of the rigid body.
JA JP
Equations (15), (16), (17) and (18) represent the dynamics
of the system in the first order state space form
d It shows that the translational momentum of the entire rigid
( effect ) = function ( cause ) . body can be considered to be concentrated at the center of its
dt
mass, and it changes according to the resultant of the forces
In addition the observed variables are, applied on it.
d
p
q8 = θA = 1 ;
JA
p
and q9 = θP = 2
JP
(19)
dt
M 00 rC = ∑ 0 FP { }(20)

It also clearly represents the cause-effect relationship

B. Bond graph modules for rigid body mechanics
The fingers of the hand may be considered to be made up of
almost rigid links (bones called phalanges). The joints between
links are generally revolute, though not in a strict kinematic
sense. The joints are spherical in the kinematic sense but have a
prominent revolute motion about an axis. The rigid constraints
at joints are relaxed due to the presence of soft tissue and fluid.
We can consider a joint to be revolute about its axis. It is
convenient to use the notation of vector bond graphs as it
makes the representation quite compact.
We shall differentiate between a scalar and vector bond by
their relative thickness as shown in Fig. 4. In this work, a
vector bond graph is an ordered collection of three scalar
between torque acting on the rigid body and its angular
momentum about its center of mass (CM) C. The total torque
acting on the rigid body about C causes a change in the angular
momentum of the rigid body about C. The effect is the rotation
of the body with angular velocity 00ωC , and is decided by the
inertial properties of the rigid body.
The equation for rotation of the rigid body, due to forces
acting on it, as represented in the bond graph can be written as
d
{ }
⎡ C0 I ⎤ 00ωC = ∑ C0 rP × 0 FP = C0τ
dt ⎣ ⎦
(21)
It may be noted that the Bond graph is integrally causalled.
 Since the terms of the inertia tensor ⎡⎣ C0 I ⎤⎦ are expressed in X2
Y0
the frame 0 they change due to rotation of the body with
0
FO 3

respect to frame 0. We know that the components of the inertia O3

tensor for the rigid body are constant if expressed in a frame link 2
fixed on the body itself. Y2 C2
τ2
0
The orientation of frame C with respect to frame 0, given X1
by the rotation matrix C0 R , is obtained by the integration of the
matrix differential equation Y1 O2
0
τ1
C
0
R = ⎡⎣ 00ωC ×⎤⎦ C0 R (22) C1 link 1
This means that if the orientation of the rigid body at time O1 X0
t0 is given as C0 R ( t0 ) , the orientation at time t can be
obtained as C0 R ( t ) from (22). The angular velocity vector 00ωC FO
0
1

is necessary. There are well known dependencies among the Fig. 6 A finger with two revolute joints.
elements of C0 R due to its orthonormality. The columns of C0 R
are unit vectors of frame C along its coordinate axes expressed
in the frame 0. Due to the angular velocity 00ωC of the body, The bond graph for the system is shown in Fig. 7. If
these unit vectors undergo a change of orientation, at time t , translational constraints are rigidly maintained, derivative
with respect to frame 0. The columns are obtained from causality appears at the power bonds connected to the
integration of translational inertia elements. It occurs due to the imposition of
kinematic constraints which result in the dependence of the
0
uˆCi = ⎡⎣ 00ωC ×⎤⎦ 0 uˆCi , i = 1, 2, 3 (23) momenta of masses M 1 and M 2 on the angular momenta of
links 1 and 2 about their respective centers of mass. In natural
where, C
0
R = ⎡⎣ 0 uˆC1 0
uˆC2 0
uˆC3 ⎤⎦ . In terms of Bond graphs, finger systems, the presence of soft tissue and fluid relax the
this relationship may be expressed using C : [1] elements and joint constraints by introducing their own properties of stiffness
and dissipation. This amounts to the introduction of bond graph
effort activated bonds connected to junction 1 as shown. elements representing stiffness and dissipation at respective
0 ωC
0

The state variable vector associated with each element C : [1] joints as shown in the integrally causalled bond graph of Fig. 7.
S e : 0 FO
is uˆCi . Thus the orientation matrix
0
C
0
R can be constructed T
3

⎡⎣ C 0 rO ×⎤⎦
2 3

again. This approach has redundancy in it, caused by the MTF 00 F

O3

orthonormal nature of C0 R . The third column vector of C0 R can I:[ M 2 ]

⎡⎣ C 0 I 2 ⎤⎦ :I 1ω 0 T
1 0
0 rC2

⎣⎡ C rO ×⎦⎤
2

be obtained from the previous two columns by vector cross

0 2 0
2 2

− 0τ 2
multiplication, instead of numerical integration. MTF 0− 0
FO2

The relative orientation between two links, say A and B, 1

C:[ K12 ]
0
0 rO2

[0 0 1]
can be obtained from (24) once their orientations A0 R and B0 R , RT
0
1
− 1τ 2 z − 1τ 2
TF MTF 0− τ 0 1
with respect to frame 0, are known. θ ω2 ω2
1 0 0
2
2 1 1

R:[ R12 ]
R = A0 R T B0 R
A 1
B (24) T
0
0 rO2′

⎡⎣ r ×⎤⎦
0
C1 O2′

In order to illustrate the method, these developments are − 0τ 2 MTF 0 0

FO2

applied to an example of a finger with two revolute joints,

I:[ M 1 ]
⎣⎡ C I1 ⎦⎤ :I
0
1 0 r
shown in Fig. 6. However the formulation discussed above is a 1
1ω 0
0 1
⎡⎣ C10 rO1 ×⎤⎦
T 0 C1

very general approach, not specific to a 2 DOF finger only. [0 0 1]

0
τ 1z τ1
0
MTF 0 0
FO1
TF
θ 1

1 0
0 rO1

C:[ K 01 ]

0 1

R:[ R01 ]
0
r = 0 :S f
0 O0
1 0
0 rO0

Fig. 7 Bond graph shows stiffness and dissipation at joints. Application

of joint torques is also shown.
 The transmission of motion from the active to the passive Tension in string 1
0.03
joint can be observed in Fig. 7 for the actuation in the three
0.025
dimensional system. The string-tube connecting an active and
0.02

Tension (N)
passive joint decides the string tensions and hence the torques
0.015
experienced on the joints based on the extension of the strings
0.01
with respect to the tubes. This extension is decided by the
0.005
angular motions of the joints connected by the string-tubes.
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
time (s)
C. Simulation and discussion Tension in string 2
0.03
Simulations were carried out based on the bond graph 0.025
model derived earlier. The active joint is coupled with the 0.02

Tension (N)
index finger at joint I3, and the passive prosthetic joint is 0.015
located at the thumb joint T3. The system is in the unlike 0.01
configuration similar to the one shown in Fig. 2. The initial 0.005

posture is such that θ A = 60° and θ P = 120°. It implies that the 0

0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

finger and thumb are in the closed position. The active finger is time (s)

supplied a torque τ A = 0.0005sin (π t ) N-m so that the fingers

may open and close. The parameters chosen are: Fig. 9 Tension in strings. No pretensioning has been done here.

J A = 1 × 10−5 Kg .m 2 , J P = 1.2 × 10−5 Kg.m 2 , K s1 = 1 × 105 N / m ,

K s = 1 × 105 N / m , Rs = 100 N .s / m , Rs = 100 N .s / m ,
2 1 2 Pretensioning with a force of 10 N has been considered in
r1 A = 0.01m , r2 A = 0.01m , r1P = 0.01m , r2 P = 0.01m , Fig. 10.
R jointA = 0.0001N .m.s , R jointP = 0.0001N .m.s . The simulation is Tension in string 1

for a duration of 2 s. Results of the simulation are shown and 10.01

discussed below. Fig. 8 clearly shows that the joints operate in
the unlike configuration.
Tension (N)

10

Angular velocities of finger joints 9.99

3
Angular velocities (rad/s)

2
9.98
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
1
time (s)
0 dθ /dt
A Tension in string 2
dθ /dt
P

-1
10.01
-2
Tension (N)

-3 10
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
time (s)

Angular displacement of fingers 9.99

3
θA
2.5 θP
9.98
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
θA, θP (rad)

2 time (s)

1.5

1 Fig. 10 Tension in strings when pretensioning of 10 N is considered.

0.5
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
time (s)

The transaction of power is depicted in Fig. 11. The power

Fig. 8 Simulations plots showing angular velocities and displacements of input to the system by the natural index finger through the
joints. Opening and closing of the joints in unlike configuration is considered. active joint is distributed to accelerate the prosthetic joints and
move them, and also overcome opposing friction.
Pretensioning of strings does not alter the power transactions
Tension increases initially in string 1 till opening is for the case of joint friction characteristics considered.
completed and then reduces. The closing movement results in
increase of tension in string 2. Initial tension is absent in the
string tube system while considering the result of Fig. 9.
 -4
x 10 Power transactions
12
input power
to accelerate active finger
to accelerate passive finger
10 Power lost in bearing R
Power lost in bearing L
6
Power (W)
-2
0 0.2 0.4 0.6 0.8 1 1.2 1.4
time (s)
Fig. 11 Power transactions. The distribution of input power for actuation
of the finger joints and the power losses in bearings.
V. SALIENT FEATURES
Redundancy is a very important and characteristic feature
provided by nature to the human body. The proposed prosthetic
mechanisms utilize this feature effectively. Using the ability of
remaining natural fingers to provide movement capability to
prosthetic joints is an effective way of channelizing this
redundancy to some extent. The ideas for the mechanisms for
the prosthetic devices are inspired by existing natural
mechanism of the human hand.
The function of feedback control during joint actuation is
performed by the remaining natural fingers. Sensing and
control abilities of these natural members, a part of the
neuromuscular system, integrated with the CNS perform the
role of controller. Additional hardware for control is therefore
not required in the passive versions of such prosthetic devices.
Due to the flexible string-tube combination, the active and
passive joint axes can have movement relative to each other.
The active joint axes need not be parallel or fixed with respect
to corresponding passive joint axes. The string-tube
combination maintains constant string length between joints
even while they move. This is especially a very useful feature
since it permits movement of the joints and transmission at the
same time.
The active and passive joints are physically implemented in
the form of modular buttons that are buttoned on to a glove
with necessary skeletal framework. Such a buttoning concept
makes the mechanism easy to assemble and disassemble very
quickly.
Actuation of prosthetic joints using natural joints on fingers
does not increase the independent DOF of the severed hand.
This is due to the fact that motion of passive joints is dependent
on active natural joints. However, the use of the existing
degrees of freedom, to provide actuation capability to
prosthetic joints enables the performance of tasks which would
not have been possible otherwise.
Fig. 12 Tension in strings when pretensioning of 10 N is considered.
1.6 1.8 2
Each passive joint derives its movement from one or more
active joints on the same hand in a modular way. Thus
provision of extra passive joints is equivalent to adding degrees
of freedom to the prosthetic mechanism. It is well known in
robotics literature that such DOF add to the dexterity of the
prosthetic device.
Every disability within the scope of the proposed prosthetic
mechanisms requires a separate tailor made prosthetic device.
This is based on the nature of loss that requires rehabilitation.
Training and practice with the prosthesis is therefore inevitable.
It is appropriate to mention that the prosthetic devices
substituted in place of the lost natural fingers have limited
capability, for example, sensing texture of objects, etc. cannot
be performed by them.
Evaluation of such a device comprises of (a) functional
capability to perform key essential tasks (b) Study of power
and its constitutive variables (velocities and forces) utilized to
actuate active and passive joints during actual implementation
of tasks. The Bond graph approach helps in developing models
for system dynamics such that these power variables can be
effectively analyzed.
VI. ACTIVE PROSTHESIS: A PREVIEW
It is interesting to note that the string-tube based realization
of the prosthetic mechanism can also be viewed from a control
system perspective. The passive system is actuated by efforts
proportionate to the extension and its rate. The string-tube
extension is related to the error between joint angles under
certain assumptions. Hence the control effort on the passive
side is proportionate to the error in joint angles and its
derivative (PD control).
The mechanisms discussed in this paper so far were passive
versions. No energy external to the natural hand is used in these
devices. Our representation of the system dynamics using bond
graphs also facilitates the development of active versions of
such prosthetic devices. Active prostheses are useful for
augmentation of weak finger muscles. Energy external to the
human hand is applied in active devices. Power to provide
actuation of such muscles can be drawn from an external
electric source, for example. The active joint connected to a
weak finger requires very limited effort and power for its
actuation. The input motion to the active joint is provided by From (26), (27) and (30),
the remaining natural finger. Consider the system of Fig. 13
which is obtained by simplification of Fig. 3. J P θP = K Pε θ + K D εθ − Rjo int P θP (31)
It is clear that the passive subsystem follows the joint angle
trajectory θ A of the active joint, while reflecting a fraction of
the effort α τ P felt by the passive subsystem. The element
εθ C : K P R : KD NCTF shown in the bond graph is non conservative, unlike
pP the power conserving transformer TF , and is used to scale
pA
I:J I : JP power between the active and passive subsystems.
A 1εθ
Controlling of a passive joint based on inputs from more
τ ref = α τ P εθ τ P θP
τ ref τP τP than one active natural joints, using this principle, is also
Se : τ A NCTF
1θA 0τ 1θP C :1 feasible. In this case the individual active joints provide motion
θA θA θP
P e
e inputs to the intermediate subsystem. The passive joint would
C :1 move according to the resultant effort applied on it by the
θA R : R jointA R : R jointP intermediate subsystem, as the 1θ junction representing the
P

motion of the passive joint is an effort summing junction. The

passive subsystem discussion initiated in this section offers scope for further
Active subsystem
Intermediate subsystem exploration into analysis and design of active prosthetic
Fig. 13 Active control of a prosthetic system
systems.

The input torque τ A is supplied by the neuromuscular REFERENCES

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subsystem is scaled down by a factor α , and reflected back on
the active subsystem, by the intermediate subsystem. The
reflected effort felt on the active side is
τ ref = α τ P , 0 < α ≤ 1 (25)
The flow variables θA from the active side, and θP from
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JA JP
p A = τ A − α τ P − R jointA θA
p = τ − R
P P
θ jo int P
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