Co-simulation and control algorithm of intelligent bionic hands with multi-degree of freedom

Intelligent prosthesis is an important component of rehabilitation medicine works, and it plays a decisive role in people´s lives. In order to reduce the unnecessary material and time-consuming, and improve design efficiency in the actual prosthetics physical prototype design process, this paper proposes a solution that studying virtual bionic hands in mechanical virtual prototyping, Adams software, which can avoid the mass experiments in development of prototyping, so exploiting virtual bionic hands is significant. Thus, this paper uses virtual technology to build a simulation system. First, use the Adams software to create a virtual humanoid robot model with 14 degrees of freedom; second, build a virtual bionic hand´s control system by Matlab/Simulink module. As the complexity of the bionic hand model, this paper choose PD controller, it simply and easily to achieve. Finally, realize the co-simulation of Matlab and Adams virtual bionic hand model with multi-degree of freedom by the model and control system interface module. Simulation results show that the virtual bionic hand has good tracking ability, and can complete the relevant action steadily.