چکیده مقاله
As a fundamental activity of daily living, independent eating is crucial for physical well being, psychological health, and social integration This paper presents a biomechanical model and a novel control strategy for reproducing the human eating motion A five degree of freedom kinematic model of the upper limb, comprising the shoulder, elbow, and wrist joints, is formulated using the Denavit Hartenberg method Lagrange's equations are employed to derive the system's three dimensional dynamic equations These dynamics inform the design of a sliding mode controller to achieve robust and accurate trajectory tracking Simulation results validate the proposed framework, demonstrating minimal tracking error and torque profiles that closely resemble natural human muscular activity This confirms the model's ability to replicate both the kinematic and dynamic characteristics of the eating motion The proposed framework shows significant potential for designing advanced rehabilitation exoskeletons to assist individuals with motor deficits and for enhancing the naturalism and efficiency of robotic manipulators
کلیدواژهها
نویسندگان
Ali Kheiri
School of Mechanical Engineering, Shiraz University, Shiraz, Iran
Nazanin Ghazizadeh
School of Mechanical Engineering, Shiraz University, Shiraz, Iran
Seyyed Arash Haghpanah
School of Mechanical Engineering, Shiraz University, Shiraz, Iran
شیوه ارجاع
Kheiri, Ali and Ghazizadeh, Nazanin and Haghpanah, Seyyed Arash,1404,Modeling and Sliding Mode Control of Dominant-Hand Eating Motions,The First National Conference on Applied Technologies in Mechanical Engineering (ATME2025),Ahvaz
ارائهشده در
مجموعه مقالات اولین کنفرانس ملی فناوری های کاربردی در مهندسی مکانیک27 آبان 1404 · اهواز