Estimation of Wrist Chattering Angle Based on Disturbance Observer.

Due to the physiological constraints and daily habits of hand movements, the wrist chattering effect (WCE) will inadvertently cause disturbance to the accuracy of fingers’ pattern recognition, when healthy subjects or amputees undergoing mirror training control their fingers according to instructions. This paper proposes a method for estimating WCE angles using a disturbance observer. Based on the Denavit-Hartenberg (D-H) convention and inverse kinematics, the intervals of the WCE during finger flexion and extension are determined. The research objective is to eliminate disturbance terms containing redundant information referring to sliding mode anti-jittering methods, making subsequent machine learning models less susceptible to disturbances.