Formation of grips of an anthropomorphic bionic hand

The formation of grips of an anthropomorphic bionic hand using numerical methods for minimizing of the error function based on a mathematical model of the hand is considered. A grip quality criterion is proposed — the sum of the distances from the grasped object to the structural elements of the phalanges of the fingers. The effectiveness of the proposed method is verified by modeling a solid model of the hand in Matlab Simulink. Keywords anthropomorphic bionic hand, grip, quality, multidimensional minimization, modeling, Solidworks, Matlab Simulink [email protected]