Design and Implementation of Robust Adaptive Synergetic Control for Prosthetic Finger Systems.

Prosthetic fingers are advancing to improve grip and natural movement for amputees, but controlling them and minimizing chattering remains challenging, highlighting the need for more robust, precise, and stable control solutions to address these issues. To solve this issue, this study uses adaptive synergetic control. To verify this algorithm, a compares the performance of two control algorithms, adaptive sliding mode control and adaptive synergetic control, in managing the angular positions of a prosthetic finger. The adaptive synergetic control algorithm demonstrated superior tracking, achieving the desired trajectory 19% faster than adaptive sliding mode control, with minimal steady-state error and smoother control. Robustness tests were conducted under varying levels of system uncertainty (25% to 90%), showing that the adaptive synergetic control method effectively maintains accurate angular positions and velocities. Torque analysis revealed the adaptive synergetic control system's adaptive response to uncertainties, with initial torque spikes compensating for increased uncertainty levels. The results highlight adaptive synergetic control robust performance, demonstrating its effectiveness in precise and stable control of prosthetic devices despite significant parameter variations.