FES Control of a Finger MP Joint with a Proxy-Based Super-Twisting Algorithm-Reference-Cited by-同舟云学术

FES Control of a Finger MP Joint with a Proxy-Based Super-Twisting Algorithm

Published:2024-06-05 Issue:11 Volume:14 Page:4905
ISSN:2076-3417
Container-title:Applied Sciences
language:en
Short-container-title:Applied Sciences

Author:

Chen Hua¹^ORCID,Xiong Xiaogang²^ORCID,Honda Koki³,Okunami Shouta¹,Yamamoto Motoji¹

Affiliation:

1. Mechanical Engineering Department, Kyushu University, Ito Campus, Fukuoka 8190395, Japan

2. School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen 518055, China

3. Graduate School of Frontier Sciences, Tokyo University, Kashiwa Campus, Tokyo 2778563, Japan

Abstract

To improve motion accuracy through functional electrical stimulation (FES) of forearm muscles, feedback control laws are applied to the index finger’s metacarpophalangeal (MP) joint. This paper introduces a proxy-based super-twisting algorithm (PSTA) for precise servo control of MP joints via FES. The PSTA combines first-order sliding mode control with a second-order super-twisting algorithm, effectively preventing windup during FES saturation and ensuring robust, accurate control. An implicit Euler method minimizes numerical chattering in the digital implementation. Experiments with Arduino and volunteers confirm the algorithm’s effectiveness.

Funder

Shenzhen Science and Technology Program

GuangDong Basic and Applied Basic Research Foundation

Open Fund of Laboratory of Aerospace Servo Actuation and Transmission

Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics

Publisher

MDPI AG

Link

https://www.mdpi.com/2076-3417/14/11/4905/pdf

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