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Exponential sliding mode controller to track the human upper limb during Topspin Forehand in Table Tennis

Authors :

Erfan Sedaghat¹ Seyyed Arash Haghpanah²

1- دانشگاه شیراز 2- دانشگاه شیراز

Keywords :

Upper limb biomechanics،Table tennis،Exponential sliding mode control،Human motion tracking،Rehabilitation robotics،Injury prevention،Biomechanical simulation

Abstract :

Understanding and improving the biomechanics of sports movements is essential to both injury prevention and performance optimization. This study presents a control-oriented simulation of the human upper limb during the topspin forehand motion in table tennis. A 4-degree-of-freedom skeletal model of the right arm—comprising the shoulder and elbow joints—is developed using the Denavit–Hartenberg convention. To track experimentally obtained reference trajectories, an exponential sliding mode controller (ESMC) is proposed. The controller ensures finite-time convergence of tracking errors. Simulation results demonstrate high tracking accuracy and proper control torque behavior, indicating the potential of the proposed method in biomechanics and intelligent rehabilitation systems. This framework can be extended to upper-limb exoskeleton control, motion analysis for injury prevention, and intelligent training tools for athletes.