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


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.


  • 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.


Main Subjects

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