A Sliding Mode Controller Design Based on Timoshenko Beam Theory Developed for a Prosthetic Hand Wrist

Development and application of control strategies that regulate movements of prosthetic hands play a vital role in improving both operational efficiency and overall user satisfaction associated with these advanced devices. This paper presents a Sliding Mode Controller (SMC) that is based on the Timoshenko beam theory, specifically designed for a tendon-driven soft continuum wrist integrated with a prosthetic hand known as ‘PRISMA HAND II”. The controller utilizes the Timoshenko modeling technique to develop kinematic and dynamic models of the soft wrist. These models play a crucial role in the SMC to determine necessary tendon forces that are applied to the wrist to facilitate desired movements of the hand. The paper includes simulation studies and experimental tests that validate effectiveness of the controller in managing wrist movements.