Force control of an underactuated prosthetic hand based on sliding mode with exponential reaching law

摘要

The design of a sliding mode force control system for an underactuated prosthetic hand system are addressed in this study. First, a mathematical model of underactuated prosthetic hand is developed and state equation of DC motors is discussed for force control. Next, sliding mode force control based on exponential reaching law was discussed to increase the control response. Finally, the proposed control strategy for underactuated prosthetic hand is simulated to grasp soft, medium or firm objects. The results verify the effectiveness of the force control method based on sliding mode with exponential reaching law.