TY - JOUR ID - TI - Design of a Sliding Mode Controller for a Prosthetic Human Hand’s Finger AU - Alaa Abdulhady Jaber AU - Saleem K. Kadhim AU - Hussein Sh. Majeed PY - 2022 VL - 40 IS - 1[Mechanical Engineering] SP - 257 EP - 266 JO - Engineering and Technology Journal مجلة الهندسة والتكنولوجيا SN - 16816900 24120758 AB - In this research paper, the modeling and control of a tendon driven, instead of joint motors, 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 obtained results showed that the ASMC superior to the CSMC in depressing the chattering and fast response.

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