Nonlinear Control of a Fully Actuated Robotic Hand Using High-Order Sliding-Mode Controller for Prosthetic Applications

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.