METAHEURISTIC METHODS OPTIMIZED HSMC CONTROL OF A MULTI DOF HAND AND WRIST REHABILITATION ROBOT DESIGN

Year 2025, Volume: 13 Issue: 4, 1107 - 1136, 01.12.2025

Musa Marul , Nurhan Gürsel Özmen

https://doi.org/10.36306/konjes.1674751

Abstract

Rehabilitation is a process that aims to restore individuals to full functionality following an injury or illness that has compromised their ability to perform daily activities. A significant challenge in addressing these needs is the selection of robotic devices that can adequately respond to the complex requirements of rehabilitation. This study presents a simulation study for the position control of the wrist and fingers using Hierarchical Sliding Mode Control (HSMC) that is optimized via metaheuristic algorithms. A novel hierarchical approach is applied that is optimized with Particle Swarm Optimization (PSO) and Differential Evolution (DE) algorithms. The model was simulated under disturbances to track the desired trajectory. Simulation results are compared with Hierarchical PID controller results. The findings demonstrate that HSMC-based control effectively improve trajectory tracking, reducing mean absolute and normalized root mean square (NRMS) errors compared to HPID controllers. The proposed approach shows promising potential for real implementation, enhancing the efficiency of rehabilitation devices.

Keywords

Rehabilitation Robot , Hierarchical Sliding Mode Control (HSMC) , Hand Rehabilitation , Particle Swarm Optimization (PSO) , Differential Evolution (DE)

References

• T. Wang, D. Mantini, and C. R. Gillebert, "The potential of real-time fMRI neurofeedback for stroke rehabilitation: A systematic review," (in eng), Cortex, vol. 107, pp. 148-165, Oct 2018.
• F. Molteni, G. Gasperini, G. Cannaviello, and E. Guanziroli, "Exoskeleton and End-Effector Robots for Upper and Lower Limbs Rehabilitation: Narrative Review," (in eng), Pm r, vol. 10, no. 9 Suppl 2, pp. S174-s188, Sep 2018.
• H. B. Hoffman and G. L. Blakey, "New design of dynamic orthoses for neurological conditions," (in eng), NeuroRehabilitation, vol. 28, no. 1, pp. 55-61, 2011.
• A. Rahman and A. Al-Jumaily, "Design and Development of a Bilateral Therapeutic Hand Device for Stroke Rehabilitation," vol. 10, no. 12, p. 405, 2013.
• C. N. Schabowsky, "Robot-Assisted Hand Movement Therapy after Stroke," Doctor of Philosophy, Department of Biomedical Engineering School of Engineering, The Catholic University of America, ProQuest LLC., 2010.
• U. Mayetin, "Taşınabilir Bilek Rehabilitasyon Robotu Tasarımı ve Geliştirilmesi," Ph.D, Biomedikal Mühendisliği, Kocaeli Üniversitesi, Fen Bilimleri Enstitüsü, 716593, 2022.
• J. Sumner, H. W. Lim, L. S. Chong, A. Bundele, A. Mukhopadhyay, and G. Kayambu, "Artificial intelligence in physical rehabilitation: A systematic review," Artificial Intelligence in Medicine, vol. 146, p. 102693, 2023/12/01/ 2023.
• A. C. McConnell et al., "Robotic devices and brain-machine interfaces for hand rehabilitation post-stroke," (in eng), J Rehabil Med, vol. 49, no. 6, pp. 449-460, Jun 28 2017.
• T. Dickmann, N. J. Wilhelm, C. Glowalla, S. Haddadin, P. Van der Smagt, and R. Burgkart, "An Adaptive Mechatronic Exoskeleton for Force-Controlled Finger Rehabilitation," (in eng), Front Robot AI, vol. 8, p. 716451, 2021.
• Y. K. Ou, Y. L. Wang, H. C. Chang, and C. C. Chen, "Design and Development of a Wearable Exoskeleton System for Stroke Rehabilitation," (in eng), Healthcare (Basel), vol. 8, no. 1, Jan 15 2020.
• E. Pezent, "Design, Characterization, and Validation of the OpenWrist Exoskeleton," Master of Science Engineering, Mechanical Engineering, Rice University, Published by ProQuest LLC, 2017.
• C. N. Schabowsky, S. B. Godfrey, R. J. Holley, and P. S. Lum, "Development and pilot testing of HEXORR: hand EXOskeleton rehabilitation robot," (in eng), J Neuroeng Rehabil, vol. 7, p. 36, Jul 28 2010.
• N. Sun, G. Li, and L. Cheng, "Design and Validation of a Self-Aligning Index Finger Exoskeleton for Post-Stroke Rehabilitation," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 29, pp. 1513-1523, 2021.
• C. Liu, J. Lu, H. Yang, and K. Guo, "Current State of Robotics in Hand Rehabilitation after Stroke: A Systematic Review," Applied Sciences, vol. 12, no. 9. doi: 10.3390/app12094540
• J. Iqbal, N. G. Tsagarakis, and D. G. Caldwell, "Four-fingered lightweight exoskeleton robotic device accommodating different hand sizes," vol. 51, no. 12, pp. 888-890, 2015.
• D. Leonardis et al., "An EMG-Controlled Robotic Hand Exoskeleton for Bilateral Rehabilitation," (in eng), IEEE Trans Haptics, vol. 8, no. 2, pp. 140-51, Apr-Jun 2015.
• R. Conti, E. Meli, and A. Ridolfi, "A novel kinematic architecture for portable hand exoskeletons," Mechatronics, vol. 35, pp. 192-207, 2016/05/01/ 2016.
• R. Conti et al., "Kinematic synthesis and testing of a new portable hand exoskeleton," Meccanica, vol. 52, no. 11, pp. 2873-2897, 2017/09/01 2017.
• S. Kim, J. Lee, and J. Bae, "Analysis of Finger Muscular Forces using a Wearable Hand Exoskeleton System," Journal of Bionic Engineering, vol. 14, no. 4, pp. 680-691, 2017/10/01/ 2017.
• S. Kim, J. Lee, W. Park, and J. Bae, "Quantitative evaluation of hand functions using a wearable hand exoskeleton system," (in eng), IEEE Int Conf Rehabil Robot, vol. 2017, pp. 1488-1493, Jul 2017.
• M. Decker and Y. J. I. W. H. C. Kim, "A hand exoskeleton device for robot assisted sensory-motor training after stroke," pp. 436-441, 2017.
• I. Jo, J. Lee, Y. Park, and J. Bae, "Design of a wearable hand exoskeleton for exercising flexion/extension of the fingers," (in eng), IEEE Int Conf Rehabil Robot, vol. 2017, pp. 1615-1620, Jul 2017.
• P. Sale, G. Sellin, M. Stefano, F. Becchi, and W. Sieklicki, "FEX a Fingers Extending eXoskeleton for Rehabilitation and Regaining Mobility," 2018.
• F. Zhang, L. Hua, Y. Fu, H. Chen, and S. Wang, "Design and development of a hand exoskeleton for rehabilitation of hand injuries," Mechanism and Machine Theory, vol. 73, pp. 103-116, 2014/03/01/ 2014.
• A. Lince et al., "Design and testing of an under-actuated surface EMG-driven hand exoskeleton," (in eng), IEEE Int Conf Rehabil Robot, vol. 2017, pp. 670-675, Jul 2017.
• A. Bataller, J. A. Cabrera, M. Clavijo, and J. J. Castillo, "Evolutionary synthesis of mechanisms applied to the design of an exoskeleton for finger rehabilitation," Mechanism and Machine Theory, vol. 105, pp. 31-43, 2016/11/01/ 2016.
• I. Jo, Y. Park, J. Lee, and J. Bae, "A portable and spring-guided hand exoskeleton for exercising flexion/extension of the fingers," Mechanism and Machine Theory, vol. 135, pp. 176-191, 2019/05/01/ 2019.
• D. Marconi, A. Baldoni, Z. McKinney, M. Cempini, S. Crea, and N. Vitiello, "A novel hand exoskeleton with series elastic actuation for modulated torque transfer," Mechatronics, vol. 61, pp. 69-82, 2019/08/01/ 2019.
• M. Haghshenas-Jaryani, W. Carrigan, C. Nothnagle, and M. B. J. Wijesundara, "Sensorized soft robotic glove for continuous passive motion therapy," EEE 6th. International Conference on Biomedical Robotics, pp. 815-820, 2016.
• P. Polygerinos, Z. Wang, K. C. Galloway, R. J. Wood, C. J. J. R. Walsh, and A. Systems, "Soft robotic glove for combined assistance and at-home rehabilitation," vol. 73, pp. 135-143, 2015.
• H. K. Yap, B. W. K. Ang, J. H. Lim, J. C. H. Goh, C.-H. J. I. I. C. o. R. Yeow, and Automation, "A fabric-regulated soft robotic glove with user intent detection using EMG and RFID for hand assistive application," pp. 3537-3542, 2016.
• M. A. Diftler et al., "RoboGlove A Grasp Assist Device for Earth and Space.," In Proceedings of the 45th International Conference on Environmental Systems Bellevue, DC, USA, 12–16 July 2015, 2015.
• H. C. Fischer, K. Stubblefield, T. Kline, X. Luo, R. V. Kenyon, and D. G. Kamper, "Hand Rehabilitation Following Stroke: A Pilot Study of Assisted Finger Extension Training in a Virtual Environment," Topics in Stroke Rehabilitation, vol. 14, no. 1, pp. 1-12, 2007/01/01 2007.
• H. K. Yap et al., "A Fully Fabric-Based Bidirectional Soft Robotic Glove for Assistance and Rehabilitation of Hand Impaired Patients," IEEE Robotics and Automation Letters, vol. 2, no. 3, pp. 1383-1390, 2017.
• Y. Park, I. Jo, J. J. I. R. I. C. o. I. R. Bae, and Systems, "Development of a dual-cable hand exoskeleton system for virtual reality," pp. 1019-1024, 2016.
• B. W. K. Ang, C.-H. J. I. R. I. C. o. I. R. Yeow, and Systems, "Print-it-Yourself (PIY) glove: A fully 3D printed soft robotic hand rehabilitative and assistive exoskeleton for stroke patients," pp. 1219-1223, 2017.
• B. B. Kang, H. Choi, H. Lee, and K. J. Cho, "Exo-Glove Poly II: A Polymer-Based Soft Wearable Robot for the Hand with a Tendon-Driven Actuation System," (in eng), Soft Robot, vol. 6, no. 2, pp. 214-227, Apr 2019.
• D. Popov, I. Gaponov, and J.-H. J. I. A. T. o. M. Ryu, "Portable Exoskeleton Glove With Soft Structure for Hand Assistance in Activities of Daily Living," vol. 22, pp. 865-875, 2017.
• L. Randazzo, I. Iturrate, S. Perdikis, and J. d. R. Millán, "mano: A Wearable Hand Exoskeleton for Activities of Daily Living and Neurorehabilitation," IEEE Robotics and Automation Letters, vol. 3, no. 1, pp. 500-507, 2018.
• K. O. Thielbar et al., "Training finger individuation with a mechatronic-virtual reality system leads to improved fine motor control post-stroke," (in eng), J Neuroeng Rehabil, vol. 11, p. 171, Dec 26 2014.
• M. C. H. Chua, J. H. Lim, and R. C. H. Yeow, "Design and Characterization of a Soft Robotic Therapeutic Glove for Rheumatoid Arthritis," Assistive Technology, vol. 31, no. 1, pp. 44-52, 2019/01/01 2019.
• M. Li et al., "An Attention-Controlled Hand Exoskeleton for the Rehabilitation of Finger Extension and Flexion Using a Rigid-Soft Combined Mechanism," (in eng), Front Neurorobot, vol. 13, p. 34, 2019.
• T. Bützer, O. Lambercy, J. Arata, and R. Gassert, "Fully Wearable Actuated Soft Exoskeleton for Grasping Assistance in Everyday Activities," (in eng), Soft Robot, vol. 8, no. 2, pp. 128-143, Apr 2021.
• Q. Meng, Z. Shen, Z. Nie, Q. Meng, Z. Wu, and H. Yu, "Modeling and Evaluation of a Novel Hybrid-Driven Compliant Hand Exoskeleton Based on Human-Machine Coupling Model," Applied Sciences, vol. 11, no. 22. doi: 10.3390/app112210825
• Z. Q. Tang, H. L. Heung, X. Q. Shi, R. K. Y. Tong, and Z. Li, "Probabilistic Model-Based Learning Control of a Soft Pneumatic Glove for Hand Rehabilitation," (in eng), IEEE Trans Biomed Eng, vol. 69, no. 2, pp. 1016-1028, Feb 2022.
• M. Sierotowicz et al., "EMG-Driven Machine Learning Control of a Soft Glove for Grasping Assistance and Rehabilitation," IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 1566-1573, 2022.
• H. Taheri et al., "Design and preliminary evaluation of the FINGER rehabilitation robot: controlling challenge and quantifying finger individuation during musical computer game play," (in eng), J Neuroeng Rehabil, vol. 11, p. 10, Feb 4 2014.
• R. Rätz, F. Conti, R. M. Müri, and L. Marchal-Crespo, "A Novel Clinical-Driven Design for Robotic Hand Rehabilitation: Combining Sensory Training, Effortless Setup, and Large Range of Motion in a Palmar Device," (in eng), Front Neurorobot, vol. 15, p. 748196, 2021.
• Z. Ma and P. Ben-Tzvi, "Design and Optimization of a Five-Finger Haptic Glove Mechanism," Journal of Mechanisms and Robotics, vol. 7, no. 4, 2015.
• E. A. Susanto, T. R. K. Y., and N. S. K. and Ho, "Hand exoskeleton robot for assessing hand and finger motor impairment after stroke," HKIE Transactions, vol. 22, no. 2, pp. 78-87, 2015/04/03 2015.
• Q. Bi, C.-J. Yang, X.-L. Deng, and J.-C. Fan, "Human finger mechanical impedance modeling: Using multiplicative uncertain model," vol. 230, no. 12, pp. 1978-1986, 2016.
• H. K. Yap, L. Jeong Hoon, F. Nasrallah, J. C. H. Goh, and R. C. H. Yeow, "A soft exoskeleton for hand assistive and rehabilitation application using pneumatic actuators with variable stiffness," in 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 4967-4972.
• S. C. Chapra, Applied Numerical Methods With Matlab For Engineers And Scıentısts. USA: McGraw-Hill Companies, 2012.
• S. W. Lee, K. A. Landers, and H. S. Park, "Development of a Biomimetic Hand Exotendon Device (BiomHED) for Restoration of Functional Hand Movement Post-Stroke," IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 22, no. 4, pp. 886-898, 2014.
• H. In, B. B. Kang, M. Sin, and K. J. Cho, "Exo-Glove: A Wearable Robot for the Hand with a Soft Tendon Routing System," IEEE Robotics & Automation Magazine, vol. 22, no. 1, pp. 97-105, 2015.
• J. Yang, H. Xie, and J. Shi, "A novel motion-coupling design for a jointless tendon-driven finger exoskeleton for rehabilitation," Mechanism and Machine Theory, vol. 99, pp. 83-102, 2016/05/01/ 2016.
• D. Lau, D. Oetomo, and S. K. Halgamuge, "Generalized Modeling of Multilink Cable-Driven Manipulators With Arbitrary Routing Using the Cable-Routing Matrix," IEEE Transactions on Robotics, vol. 29, no. 5, pp. 1102-1113, 2013.
• Y. Hasegawa and T. Suzuki, "Thin and active fixture to hold finger for easy attachment and comfort of grasping support exoskeleton," in 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, pp. 4973-4978.
• E. Thompson-Bean, O. Steiner, and A. McDaid, "A soft robotic exoskeleton utilizing granular jamming," in 2015 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2015, pp. 165-170.
• R. Kabir, M. S. H. Sunny, H. U. Ahmed, and M. H. Rahman, "Hand Rehabilitation Devices: A Comprehensive Systematic Review," vol. 13, no. 7, p. 1033, 2022.
• W. Widhiada, T. G. Nindhia, and N. Budiarsa, "Robust Control for the Motion Five Fingered Robot Gripper," International Journal of Mechanical Engineering and Robotics Research, vol. 4, pp. 226-232, 2015.
• J. Baek, M. Jin, and S. Han, "A New Adaptive Sliding-Mode Control Scheme for Application to Robot Manipulators," IEEE Transactions on Industrial Electronics, vol. 63, no. 6, pp. 3628-3637, 2016.
• Y. B. Shtessel, J. A. Moreno, and L. M. Fridman, "Twisting sliding mode control with adaptation: Lyapunov design, methodology and application," Automatica, vol. 75, pp. 229-235, 2017/01/01/ 2017.
• A. Wege and G. Hommel, "Development and control of a hand exoskeleton for rehabilitation of hand injuries," in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005, pp. 3046-3051.
• A. Jalali, F. Piltan, A. Gavahian, M. Jalali, and MozhdehAdibi, "Model-Free Adaptive Fuzzy Sliding Mode Controller Optimized by Particle Swarm for Robot Manipulator," (in English), International Journal of Information Engineering and Electronic Business, vol. 5, no. 1, pp. 68-78, May 2013 2013.
• K. Hu, Z. Ma, S. Zou, J. Li, and H. Ding, "Impedance Sliding-Mode Control Based on Stiffness Scheduling for Rehabilitation Robot Systems," (in eng), Cyborg Bionic Syst, vol. 5, p. 0099, 2024.
• A. Lince, "ReHand - a portable assistive rehabilitation hand exoskeleton," Doctor of Philosophy Thesis Mechanical, Politecnico di Torino 2016.
• K. Serbest, "El Kaslarının Rehabilitasyonu İçin Aktif Dinamik El – El Bileği Ortezi Tasarımı. ," Doktora Tezi, Sakarya Üniversitesi Fen Bilimleri Enstitüsü, 2017.
• C.-H. Chen, D. S. Naidu, and M. P. Schoen, "Adaptive control for a five-fingered prosthetic hand with unknown mass and inertia," vol. 10, no. 5 .J WTOS, pp. 148–161, 2011.
• M. Marul, "Development of a dynamically controlled robot for hand-wrist rehabilitation," Ph.D, Institute of Science, Karadeniz Technical University, Türkiye, 2024.
• H. Wang et al., "Adaptive Integral Terminal Sliding Mode Control for Automobile Electronic Throttle via an Uncertainty Observer and Experimental Validation," IEEE Transactions on Vehicular Technology, vol. 67, no. 9, pp. 8129-8143, 2018.
• Y. Hu and H. Wang, "Robust tracking control for vehicle electronic throttle using adaptive dynamic sliding mode and extended state observer," Mechanical Systems and Signal Processing, vol. 135, p. 106375, 2020/01/01/ 2020.
• M. Doğan and Ü. Önen, "Trajectory tracking control of a two wheeled self-balancing robot by using sliding mode control," (in en), Konya Journal of Engineering Sciences, vol. 12, no. 3, pp. 652-670, September 2024.
• J.-J. Wang and G.-Y. Liu, "Hierarchical sliding-mode control of spatial inverted pendulum with heterogeneous comprehensive learning particle swarm optimization," Information Sciences, vol. 495, pp. 14-36, 2019/08/01/ 2019.
• J. J. Wang, "Stabilization and tracking control of X-Z inverted pendulum with sliding-mode control," (in eng), ISA Trans, vol. 51, no. 6, pp. 763-70, Nov 2012.
• J. Kennedy and R. Eberhart, "Particle swarm optimization," in Proceedings of ICNN'95 - International Conference on Neural Networks, 1995, vol. 4, pp. 1942-1948 vol.4.
• R. Storn and K. Price, "Differential Evolution – A Simple and Efficient Heuristic for global Optimization over Continuous Spaces," Journal of Global Optimization, vol. 11, no. 4, pp. 341-359, 1997/12/01 1997.