Design of a Sliding Mode Controller for a Prosthetic Human Hand’s Finger
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 stru...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Unviversity of Technology- Iraq
2022-01-01
|
| Series: | Engineering and Technology Journal |
| Subjects: | |
| Online Access: | https://etj.uotechnology.edu.iq/article_172912_ab869d4afeae0c5b04c608cb2e3d96a7.pdf |
| _version_ | 1797337656057659392 |
|---|---|
| author | Hussein Majeed Saleem Kadhim Alaa Jaber |
| author_facet | Hussein Majeed Saleem Kadhim Alaa Jaber |
| author_sort | Hussein Majeed |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-08T09:16:45Z |
| format | Article |
| id | doaj.art-0c9e9e9d3abd4dfc83b943e62f94a91f |
| institution | Directory Open Access Journal |
| issn | 1681-6900 2412-0758 |
| language | English |
| last_indexed | 2024-03-08T09:16:45Z |
| publishDate | 2022-01-01 |
| publisher | Unviversity of Technology- Iraq |
| record_format | Article |
| series | Engineering and Technology Journal |
| spelling | doaj.art-0c9e9e9d3abd4dfc83b943e62f94a91f2024-01-31T14:27:40ZengUnviversity of Technology- IraqEngineering and Technology Journal1681-69002412-07582022-01-0140125726610.30684/etj.v40i1.1943172912Design of a Sliding Mode Controller for a Prosthetic Human Hand’s FingerHussein Majeed0Saleem Kadhim1Alaa Jaber2Control and Systems Engineering Dept., University of Technology-Iraq, Alsina'a Street, P.O Box 10066, Baghdad, Iraq.Control and Systems Engineering Dept., University of Technology-Iraq, Alsina'a Street, P.O Box 10066, Baghdad, Iraq.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.https://etj.uotechnology.edu.iq/article_172912_ab869d4afeae0c5b04c608cb2e3d96a7.pdfprosthetic fingertendon drivenmodelingsliding mode control (smc)adaptive sliding mode control (asmc) |
| spellingShingle | Hussein Majeed Saleem Kadhim Alaa Jaber Design of a Sliding Mode Controller for a Prosthetic Human Hand’s Finger Engineering and Technology Journal prosthetic finger tendon driven modeling sliding mode control (smc) adaptive sliding mode control (asmc) |
| title | Design of a Sliding Mode Controller for a Prosthetic Human Hand’s Finger |
| title_full | Design of a Sliding Mode Controller for a Prosthetic Human Hand’s Finger |
| title_fullStr | Design of a Sliding Mode Controller for a Prosthetic Human Hand’s Finger |
| title_full_unstemmed | Design of a Sliding Mode Controller for a Prosthetic Human Hand’s Finger |
| title_short | Design of a Sliding Mode Controller for a Prosthetic Human Hand’s Finger |
| title_sort | design of a sliding mode controller for a prosthetic human hand s finger |
| topic | prosthetic finger tendon driven modeling sliding mode control (smc) adaptive sliding mode control (asmc) |
| url | https://etj.uotechnology.edu.iq/article_172912_ab869d4afeae0c5b04c608cb2e3d96a7.pdf |
| work_keys_str_mv | AT husseinmajeed designofaslidingmodecontrollerforaprosthetichumanhandsfinger AT saleemkadhim designofaslidingmodecontrollerforaprosthetichumanhandsfinger AT alaajaber designofaslidingmodecontrollerforaprosthetichumanhandsfinger |