In a partially impaired anthropomorphic hand, maintaining the movement coordination of the robotic digits with the central nervous system (CNS) and natural digits is crucial for robust performance. A challenge in the control perspective of movement coordination of a human hand is finding methods robust to the disturbances in a well-posed control problem of a biomechanical model. We use visco-elastic dynamics in the human palm frame of reference to explore the biomechanics of movement coordination to solve this control problem. Our biomechanical model incorporates the time delay due to actuation force, parametric uncertainty, exogenous disturbances, and sensory noise to constitute a 21-degree of freedom model. A mixed \(\mu \)-synthesis controller, considering the real parametric uncertainty, represents the CNS in the control paradigm. We consider the robotic finger’s flexion movement when perturbed from the initial equilibrium. The controller provides feedback force at the joints to regulate the robotic finger movement. The index finger follows a reference trajectory of the joint angular position profile and stabilizes at a flexion angle of 1 rad/s at a time of 1 s. The main control objective is to keep the angular displacement of the finger joint constant when a disturbance force acts. We simulate the modeling scheme in MATLAB/ Simulink. The results demonstrate that our controller scheme is robust against the worst-case disturbance and achieves the desired performance value. Developing a biologically inspired neurophysiological controller with robust performance has many applications, including assistive rehabilitation devices, hand movement disorder diagnosis, and robotic manipulators.

在部分受损的拟人手中，保持机器人手指与中枢神经系统 (CNS) 和自然手指的运动协调对于稳健的性能至关重要。人手运动协调控制视角的一个挑战是找到对生物力学模型适定控制问题中的干扰具有鲁棒性的方法。我们在人类手掌参考系中使用粘弹性动力学来探索运动协调的生物力学来解决这个控制问题。我们的生物力学模型结合了由驱动力、参数不确定性、外源干扰和感官噪声引起的时间延迟，构成了一个 21 自由度模型。混合\(\mu \)-综合控制器，考虑到真实的参数不确定性，代表控制范式中的 CNS。我们考虑在初始平衡受到扰动时机器人手指的弯曲运动。控制器在关节处提供反馈力以调节机器人手指的运动。食指遵循关节角位置曲线的参考轨迹，并在 1 秒的时间内稳定在 1 弧度/秒的弯曲角度。主要控制目标是在扰动力作用时保持指关节的角位移恒定。我们在 MATLAB/Simulink 中模拟建模方案。结果表明，我们的控制器方案对最坏情况的干扰具有鲁棒性，并达到了预期的性能值。