This research introduces an innovative methodology for the integrated modeling, simulation, and analysis of two fingers, with particular emphasis on their fundamental roles in everyday tasks. In this study, we provide two nonlinear control strategies, specifically Sliding Mode Control (SMC) and Feedback Linearization Control (FLC), to achieve accurate and stable finger movements. As mentioned earlier, the controllers are utilized in the context of a biomechanical model consisting of two fingers, each possessing two degrees of freedom. These controllers enable the coordination of flexion and extension movements. The research conducted in our study emphasizes the coordinated regulation of finger movements, enabling the achievement of flexion through the utilization of two nonlinear controllers. By implementing these sophisticated control mechanisms, we can effectively showcase our model’s fidelity in adhering to the physiological limitations inherent to human fingers in their natural state. In addition, the proposed controllers demonstrate sound mitigation of non-linearities, such as load variations, different velocities, positional changes, and damping forces. This approach presents several advantages, such as handling non-linearities, guaranteeing robustness, choosing suitable parameters, and conducting comparative analysis. In order to substantiate our findings, we develop the nonlinear model utilizing the MATLAB/Simulink software. The findings of our study demonstrate effective regulation and control of the two-finger model’s position. In our study, we were able to get flexion angles of [Formula: see text] rad and [Formula: see text] rad using the sliding mode control (SMC) technique, and flexion angles of [Formula: see text] rad and [Formula: see text] rad using the fuzzy logic control (FLC) technique, all within a time frame of 5 s. These results serve to illustrate the applicability and significance of our proposed methodology.

中文翻译：

---

运动协调的两指模型的非线性控制

这项研究引入了一种创新的方法，用于两根手指的集成建模、模拟和分析，特别强调它们在日常任务中的基本作用。在本研究中，我们提供了两种非线性控制策略，特别是滑模控制（SMC）和反馈线性化控制（FLC），以实现准确稳定的手指运动。如前所述，控制器在由两个手指组成的生物力学模型中使用，每个手指具有两个自由度。这些控制器可以协调屈曲和伸展运动。我们的研究强调手指运动的协调调节，通过使用两个非线性控制器来实现弯曲。通过实施这些复杂的控制机制，我们可以有效地展示我们的模型在遵循人类手指在自然状态下固有的生理限制方面的保真度。此外，所提出的控制器证明了非线性的良好缓解，例如负载变化、不同速度、位置变化和阻尼力。这种方法具有多种优点，例如处理非线性、保证鲁棒性、选择合适的参数以及进行比较分析。为了证实我们的发现，我们利用 MATLAB/Simulink 软件开发了非线性模型。我们的研究结果证明了对两指模型位置的有效调节和控制。在我们的研究中，我们能够使用滑动模式控制（SMC）技术获得[公式：见文字]rad和[公式：见文字]rad的屈曲角度，以及[公式：见文字]rad和[的屈曲角度。公式：见文]rad 采用模糊逻辑控制（FLC）技术，全部在 5 s 的时间范围内完成。这些结果说明了我们提出的方法的适用性和意义。