A Novel Sliding Mode Control for Human Upper Extremity with Gravity Compensation

  • Ting WangEmail author
  • Wen Qin
Part of the Studies in Computational Intelligence book series (SCI, volume 810)


The paper studied the reaching movements of redundant human upper extremity muscles by a sliding mode control based on fuzzy adaptive scale adjustment. A two-link planar human musculoskeletal arm model is adopted on the basis of the Hill type with six redundant muscles. The study focused on the gravity compensation for the muscle input during the reaching movements process. Through the fuzzy adaptive system, the sliding mode controller may achieve adaptive approximation of switching scale so as to eliminate chattering. The numerical simulations are performed in order to verify the control. The results revealed that the human upper extremity can very well accomplish the reaching moments with proposed sliding mode controller.


Musculoskeletal model Human upper extremity Gravity compensation Sliding mode control 



This work was supported by the Natural Science Foundation of the Jiangsu [grant numbers BK20171019].


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.College of Electrical Engineering and Control ScienceNanjing Tech UniversityNanjingChina

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