FES Control of a Finger MP Joint with a Proxy-Based Super-Twisting Algorithm
Source abstract
Abstract
To improve motion accuracy through functional electrical stimulation (FES) of forearm muscles, feedback control laws are applied to the index finger’s metacarpophalangeal (MP) joint. This paper introduces a proxy-based super-twisting algorithm (PSTA) for precise servo control of MP joints via FES. The PSTA combines first-order sliding mode control with a second-order super-twisting algorithm, effectively preventing windup during FES saturation and ensuring robust, accurate control. An implicit Euler method minimizes numerical chattering in the digital implementation. Experiments with Arduino and volunteers confirm the algorithm’s effectiveness.
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Research context
OpenAlex topics: Muscle activation and electromyography studies · Motor Control and Adaptation · Tactile and Sensory Interactions
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Mechanical Engineering Department, Kyushu University, Ito Campus, Fukuoka 8190395, Japan
School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen 518055, China
Graduate School of Frontier Sciences, Tokyo University, Kashiwa Campus, Tokyo 2778563, Japan
Funding
Shenzhen Science and Technology Program · GuangDong Basic and Applied Basic Research Foundation · Open Fund of Laboratory of Aerospace Servo Actuation and Transmission · Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics
References (42)
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