@inproceedings{9ae6e058b2fd4559acd6a56140ee25a7,
title = "Nonlinear Control of a Fully Actuated Robotic Hand Using High-Order Sliding-Mode Controller for Prosthetic Applications",
abstract = "A new High-Order Fully Actuated Sliding Mode Control (HOFA-SMC) method is created in this study to precisely control the motion of a fully actuated robotic hand. Our method uses a nonlinear biomechanical model to make sure that finger movements are tracked correctly, and it also reduces chattering and boosts stability. Simulations demonstrate that our method achieves a 60 \% reduction in chattering and a 2.4 times improvement in force-tracking accuracy compared to conventional sliding mode control (SMC) in Python simulations. These results highlight the potential of HOFA-SMC for next-generation prosthetic hand designs.",
keywords = "Biomechanical Model, High-Order Fully Actuated Sliding Mode Controller HOFASMC or HO-SMC, Non-linear, Robust Control",
author = "Asra Sarwat and Wenjie Lu and Jiaole Wang and Peng Li",
note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025 ; Conference date: 04-07-2025 Through 06-07-2025",
year = "2025",
doi = "10.1109/FASTA65681.2025.11138525",
language = "英语",
series = "Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1735--1742",
booktitle = "Proceedings of the 4th Conference on Fully Actuated System Theory and Applications, FASTA 2025",
address = "美国",
}