A Hammerstein model of the hand for precise control of electrode arrays

Hodgins, Lucy, Freeman, Chris and Belkhatir, Zehor (2026) A Hammerstein model of the hand for precise control of electrode arrays. 23rd IFAC World Congress, , Busan, Korea, Democratic People's Republic of. 23 - 28 Aug 2026. 6 pp . (In Press)

Record type: Conference or Workshop Item (Paper)

Abstract

Stroke is a leading cause of disability worldwide, and current interventions are falling short, particularly regarding fine motor movement. Assistive technologies such as functional electrical stimulation offer a promising solution, but require effective control design. Difficulties in obtaining large quantities of data motivate model-based control, however there currently exist no models of the hand suitable for control design. This paper addresses this by deriving a novel Hammerstein model of the hand and wrist. This is validated on experimental data, resulting in 13% error reduction compared to existing models, with far less computational load. The proposed model is suitable for a wide range of control frameworks, facilitating transparent design, constraint handling, and robustness analysis.

Text

IFAC2026_final_submission - Accepted Manuscript

Available under License University of Southampton Accepted Manuscript Licence.

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