Research on Human Upper Limb Tremor Suppression Method Based on Port-Controlled Hamiltonian System and Sliding Mode Control

Authors

Jingjing Li, Zhen Chen, Jian Li, Hongyu Yan, Minshan Feng, Jiawen Zhan

Abstract

In upper-limb rehabilitation training aided by robotic systems, patients often develop tremors due to insufficient muscle strength or neurological control disorders, adversely impacting the rehabilitation process. Based on the Port-Hamiltonian Systems (PHS) theoretical framework, this paper proposes a Sliding Mode Control (SMC) strategy to suppress tremors during upper-limb rehabilitation. The approach employs two Lyapunov functions: on one hand, the Hamiltonian (the system’s energy function) ensures overall Lyapunov stability; on the other, an additional Lyapunov function enforces finite-time convergence of the sliding variable, thereby rapidly mitigating tremors and maintaining tracking accuracy. Simulation results indicate that this method not only achieves outstanding stability but also guarantees finite-time convergence of the sliding variable, significantly reducing arm tremors. Consequently, it provides an efficient and viable advanced control solution for upper-limb rehabilitation robots.

Citation

• Journal: 2025 Joint International Conference on Automation-Intelligence-Safety (ICAIS) & International Symposium on Autonomous Systems (ISAS)
• Year: 2025
• Volume:
• Issue:
• Pages: 1–6
• Publisher: IEEE
• DOI: 10.1109/icaisisas64483.2025.11051604

BibTeX

@inproceedings{Li_2025,
  title={{Research on Human Upper Limb Tremor Suppression Method Based on Port-Controlled Hamiltonian System and Sliding Mode Control}},
  DOI={10.1109/icaisisas64483.2025.11051604},
  booktitle={{2025 Joint International Conference on Automation-Intelligence-Safety (ICAIS) \& International Symposium on Autonomous Systems (ISAS)}},
  publisher={IEEE},
  author={Li, Jingjing and Chen, Zhen and Li, Jian and Yan, Hongyu and Feng, Minshan and Zhan, Jiawen},
  year={2025},
  pages={1--6}
}

Download the bib file

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