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One of the most crucial issues in the force feedback micromanipulator is the dynamics of the nerve-musculoskeletal system of fingers. Micromanipulator is now actively applied in the medical field such as a brain surgery operation, a cancer test, etc. In this study, a mathematical model of the human finger grasp system was proposed on the basis of physiological findings as part of studies on the force feedback micromanipulator. Specifically, we considered the nerve-musculoskeletal control system of the fingers to be a mixed system of a length-control system using the muscle spindle and a tension-control system using the tendon organ. We proposed model of how these two reflex systems are mingling. Then, the model was evaluated through an experiment. The results revealed that the model in this study could reproduce the operation of the finger more faithfully than the conventional compliance model for fingers. Moreover, this study revealed that the refractory period characteristics of muscle in a nerve pulse transfer mechanism influence final value of contraction force.

Modeling of One-Degree-of-Freedom Finger-Grasp System with Tendon Organ Reflex and Stretch Reflex