Engineering and Technology Journal

Design of a Sliding Mode Controller for a Prosthetic Human Hand’s Finger

Authors

Control and Systems Engineering Dept., University of Technology-Iraq, Alsina'a Street, P.O Box 10066, Baghdad, Iraq.

Abstract

In this research paper, the modeling and control of a tendon-driven, instead of joint motors, the prosthetic finger that mimics the actual human index finger were deliberated. Firstly, the dynamic model of the prosthetic finger is developed based on a 3-degree of freedom (DOF) articulated robot structure and utilizing the Lagrange equation. Then, the classical sliding mode control (CSMC) strategy was implemented to control the finger motion. To overcome the cons of CSMC, such as the chattering problem, an adaptive sliding mode controller (ASMC) was developed.  MATLAB Simuphalange was used to perform the simulation after the necessary equations were derived. The results showed that the ASMC was superior to the CSMC in depressing the chattering and fast response.

Highlights

  • The prosthetic finger moves by tendon instead of the motor.
  •  The system is a non-linear dynamic model.
  • Sliding mode control can drive the model to the desired position.
  • Classical Sliding mode control suffers from chattering.

Keywords

Main Subjects

References
[1] B. Sharma, M. Kiran, V. Siva, B. Rama, and S. Joshi, Mathematical Modeling and Design Analysis of a Dexterous End-effector, (2012).
[2] N. S. Pollard and R. C. Gilbert, Tendon arrangement and muscle force requirements for human-like force capabilities in a robotic finger Tendon Arrangement and Muscle Force Requirements for Humanlike Force Capabilities in a Robotic Finger, no. February, (2016), doi: 10.1109/ROBOT.2002.1014298.
[3] M. Vande Weghe, M. Rogers, M. Weissed, and Y. Matsuokal, the ACT Hand : Design of the Skeletal Structure, (2004) 3375–3379.
[4] S. Aluminium, I. Co, and A. Science, Position and Elasticity Control for Biomimetic Robot Finger, (2000) 870–875.
[5] D. Hristu, J. Babb, H. Singh, and S. Gottschlich, Position and Force Control of a Multifingered Hand : A Comparison of Fuzzy Logic to Traditional PID Control *, .2 (1994) 1391–1398, doi: 10.1109/IROS.1994.407502.
[6] A. Coronel-Escamilla, J. F. Gómez-Aguilar, M. G. López-López, V. M. Alvarado-Martínez, and G. V. Guerrero-Ramírez, Triple pendulum model involving fractional derivatives with different kernels, Chaos, Solitons and Fractals, 91 (2016) 248–261, doi: 10.1016/j.chaos.2016.06.007.
[7] A. F. Abd and S. A. Al-Samarraie, Integral Sliding Mode Control Based on Barrier Function for Servo Actuator with Friction, Eng. Technol. J., 39 (2021) 248–259, 2021, doi: 10.30684/etj.v39i2a.1826.
[8] N. Yagiz, Y. Z. Arslan, and Y. Hacioglu, Sliding mode control of a finger for a prosthetic hand, JVC/Journal Vib. Control, 13 (2007) 733–749, doi: 10.1177/1077546307072352.
[9] Y. Shtessel, C. Edwards, L. Fridman, and A. Levant, Sliding Mode Control and Observation. (2014).
[10] P. Taylor, Tracking control of non-linear systems using sliding surfaces, with application to robot manipulators, (2013), (2007) 37–41.
[11] S. Ahmed and M. M. Salih, Adaptive Sliding Mode Control for Robotic System with Unknown Deadzone and LuGre friction, 1st Int. Conf. Recent Trends Eng. Sci. Sustain., no. October (2018),( 2017).
[12] D. H. Tohma and A. K. Hamoudi, Design of Adaptive Sliding Mode Controller for Uncertain Pendulum System, Eng. Technol. J., 39 (2021) 355–369, doi: 10.30684/etj.v39i3a.1546.
[13] P. Ignaciuk and A. Bartoszewicz, Advances in Sliding Mode Control, 440 (2013).
[14] S. A. Hashim and A. K. Hamoudi, Design a Second Order Sliding Mode Controller for Electrical Servo Drive Systems, 37 (2019).
Engineering and Technology Journal
Volume 40, Issue 1
Mechanical Engineering
, 33 articles
January 2022
Page 257-266
Files
Share
Export Citation
Statistics