Optimal Position Fuzzy SMC Control For Movement Coordination Of Two Finger Model

Abstract

The movement and mobility of the hand fngers are affected by various degrees of freedom. As both the ring and little fnger cannot move independently, this research focuses on the movement, orientation, and control of these fngers. Neural synchronization connects the central nervous system with fnger movements. We used the fuzzy logic controller (FLC) technique and sliding mode controller (SMC) to construct a theoretical framework for the bio-mechanical model of a partially damaged human hand, including the dynamics of inertial effect, muscle, damping, and stiffness. This investigation begins with determining how the ring and little fngers move and coordinate. Each of the fve fngers has three degrees of freedom. In order to design, develop, implement, and analyze the effective performance of the controlled motion for each prosthetic joint of the little and ring fnger to move independently and behave robustly despite the availability of adjacent fnger movements, there is a need and requirement to design and implement an effective and optimized controller to actuate the motion of the ring and little fnger joints. As the hand fnger has multiple degrees of freedom and coordinate axis motions like roll, pitch, yaw, angular coordinates motion, and translational axis motions as well, the main focus and concern design objectives related to control the single coordinate axis motion control of three joints of fnger as Proximal InterPhalangeal (PIP), Distal InterPhalangeal (DIP), and MetaCarpoPhalangeal (MCP) joints for little and ring fnger dynamics. Control of the angular motion for the above-mentioned joints of the little and ring fnger will be the design requirements of this research. In order to design, develop, and implement a robust and effective control architecture for any biomedical dynamics and mechanics of system control, it is required to defne the system and its components completely and comprehensively. Fuzzy logic and the SMC-FLC control architecture will be designed and developed to control the nonlinear dynamic behaviour of joint angular motion or angular position control for all the joints, angle of ring, and little fnger movements.