طراحی کنترلر مود لغزشی بهینه برای مدل‌سازی و تحلیل دینامیکی حرکت دست در پرتاب بیسبال

نوع مقاله : مقاله علمی

نویسندگان
حمید مکارم 1
سیدآرش حق پناه 2
1 دانشجوی کارشناسی ارشد، دانشکده مهندسی مکانیک، دانشگاه شیراز، شیراز، ایران
2 استادیار، دانشکده مهندسی مکانیک، دانشگاه شیراز، شیراز، ایران
10.22034/stme.2025.535646.1150
چکیده
ورزش بیسبال یکی از پرطرفدارترین ورزش‌ها در ایالات متحده آمریکا به‌شمار می‌رود و تاکنون از جنبه‌های گوناگونی از جمله نوع و مکانیزم پرتاب توپ، سرعت و زاویه پرتاب، تحلیل بیومکانیکی حرکات اندام فوقانی، آسیب‌های شایع در ناحیه شانه و آرنج و تفاوت‌های عملکردی میان بازیکنان چپ‌دست و راست‌دست مورد مطالعه قرار گرفته است. با توجه به نرخ بالای آسیب‌دیدگی‌های ناشی از حرکات تکرارشونده در این رشته ورزشی، به‌ویژه در بازیکنان پست پرتاب‌گر، نیاز به توسعه راهکارهای کنترلی برای بهینه‌سازی حرکات عضلانی و مفصلی احساس می‌شود. هدف این پژوهش طراحی یک کنترل‌کننده بهینه مبتنی بر روش کنترل مود لغزشی (SMC) به همراه مدل‌سازی دقیق دینامیکی حرکت اندام فوقانی هنگام پرتاب توپ بیسبال است. این مدل، امکان کنترل دقیق زوایا و گشتاورهای اعمال‌شده بر مفاصل را فراهم می‌سازد، به‌گونه‌ای که بتوان ضمن حفظ عملکرد ورزشی، ریسک آسیب‌های اسکلتی-عضلانی را کاهش داد. نتایج این تحقیق می‌تواند در طراحی سامانه‌های توان‌بخشی، آموزش مهارت‌های پرتاب و ساخت ربات‌های همیار ورزشی کاربرد داشته باشد.
کلیدواژه‌ها
پرتاب بیسبال
زوایای شانه و آرنج
گشتاورها روی مفاصل شانه و آرنج
کنترل‌کننده مود لغزشی
سیمولینک متلب
موضوعات

عنوان مقاله English

Design of an optimal sliding mode controller for modeling and dynamic analysis of hand motion in baseball throwing

نویسندگان English

Hamid Makarem 1
Seyyed Arash Haghpanah 2
1 M.Sc. Student, Department of Mechanical Engineering, Shiraz University, Shiraz, Iran
2 Assistant professor, Department of Mechanical Engineering, Shiraz University, Shiraz, Iran
چکیده English

Baseball is one of the most popular sports in the United States, and numerous studies have examined various aspects of its throwing mechanics, including ball release characteristics, upper-limb biomechanics, common shoulder and elbow injuries, and performance differences between left- and right-handed players. Given the high incidence of overuse injuries—particularly among pitchers—there is a growing need for advanced control strategies to optimize joint and muscle coordination during throwing. This study aims to develop an optimal control framework based on Sliding Mode Control (SMC) integrated with a detailed dynamic model of the upper limb during the baseball pitching motion. The proposed model enables precise regulation of joint angles and torques, helping maintain athletic performance while reducing musculoskeletal injury risk. The outcomes of this research have potential applications in rehabilitation systems, pitching skill training, and the development of assistive robotic technologies



Given the high rate of repetitive motion injuries in this sport, particularly among pitchers, there is a need to develop control strategies to optimize muscle and joint movements. The goal of this research is to design an optimal controller based on the sliding mode control (SMC) method, along with precise dynamic modeling of the upper limb movement during baseball pitching. This model enables accurate control of joint angles and applied torques, allowing for both athletic performance preservation and reduction of musculoskeletal injury risks.



The results of this study can be applied to the design of rehabilitation systems, training of throwing skills, and development of sports-assistive robots.

کلیدواژه‌ها English

Baseball pitching؛ shoulder and elbow angles؛ shoulder and elbow joint torques
sliding mode controller؛ MATLAB Simulink

اصل مقاله

[1] B. Ata, “Adaptive backstepping decoupled fast terminal sliding mode control for underactuated systems under uncertainties and actuator faults,” IEEE Access, 2025.
[2] Y.-W. Bai and I.-H. Hsieh, “Using a wearable device to assist the training of the throwing motion of baseball players,” in Proc. 2019 IEEE Canadian Conf. Electrical and Computer Engineering (CCECE), 2019, pp. 1–6.
[3] X. Chu, W. Li, H. Pan, and Y. Kong, “Fuzzy-adaptive sliding mode control with pitch transient prescribed performance control for nacelle suspension,” IEEE Transactions on Industrial Electronics, 2025.
[4] R. L. Crotin et al., “Analysis of injuries and pitching performance between Major League Baseball and Nippon Professional Baseball: A two-team comparison between 2015 and 2019,” Orthopaedic Journal of Sports Medicine, vol. 9, no. 5, p. 23259671211008810, 2021, doi: 10.1177/23259671211008810.
[5] M. K. Dawane and G. Malwatkar, “Comparative study on implementation of PID control architecture and sliding mode control with IoT integration on inverted pendulum systems,” in Interdisciplinary Approaches to AI, Internet of Everything, and Machine Learning. Hershey, PA, USA: IGI Global, 2025, pp. 49–72.
[6] R. F. Escamilla, G. S. Fleisig, D. Groeschner, and K. Akizuki, “Biomechanical comparisons among fastball, slider, curveball, and changeup pitch types and between balls and strikes in professional baseball pitchers,” The American Journal of Sports Medicine, vol. 45, no. 14, pp. 3358–3367, 2017, doi: 10.1177/0363546517730052.
[7] X. Fu, H. Ai, and L. Chen, “Repetitive learning sliding mode stabilization control for a flexible-base, flexible-link and flexible-joint space robot capturing a satellite,” Applied Sciences, vol. 11, no. 17, p. 8077, 2021, doi: 10.3390/app11178077.
[8] T. J. Hamer, S. Chung, and A. B. Rosen, “Comparison of biomechanical factors before and after UCL surgery in baseball athletes: A systematic review with meta-analysis,” Orthopaedic Journal of Sports Medicine, vol. 9, no. 3, p. 2325967120988736, 2021, doi: 10.1177/2325967120988736.
[9] M. Harrell et al., “Increased pitch-specific velocity, spin rate, and horizontal movement lead to increased odds of undergoing ulnar collateral ligament reconstruction in professional baseball pitchers using Baseball Savant data,” Arthroscopy, 2025.
[10] Y. Hashimoto, T. Nagami, S. Yoshitake, and H. Nakata, “The relationship between pitching parameters and release points of different pitch types in Major League Baseball players,” Frontiers in Sports and Active Living, vol. 5, p. 1113069, 2023, doi: 10.3389/fspor.2023.1113069.
[11] J. Lan, R. J. Patton, and X. Zhu, “Fault-tolerant wind turbine pitch control using adaptive sliding mode estimation,” Renewable Energy, vol. 116, pp. 219–231, 2018, doi: 10.1016/j.renene.2017.09.063.
[12] Z. Li, L. Wang, L. Wang, X. Liu, Z. Wang, and L. Liu, “A super-twisting sliding-mode control strategy for a heaving point absorber wave energy converter,” Journal of Marine Science and Engineering, vol. 13, no. 7, p. 1214, 2025, doi: 10.3390/jmse13071214.
[13] E. Olubayode, Bayesian Analysis of Strike Likelihood in Baseball: Evaluating the Impact of Pitch Dynamics and Batter Characteristics, Ph.D. dissertation, Graduate College, University of Oklahoma, 2025.
[14] D. M. Scarborough, A. J. Bassett, L. W. Mayer, and E. M. Berkson, “Kinematic sequence patterns in the overhead baseball pitch,” Sports Biomechanics, vol. 19, no. 5, pp. 569–586, 2020, doi: 10.1080/14763141.2018.1495574.
[15] D. M. Scarborough, N. K. Leonard, L. W. Mayer, L. S. Oh, and E. M. Berkson, “The association of baseball pitch delivery and kinematic sequence on stresses at the shoulder and elbow joints,” Journal of Sports Science & Medicine, vol. 20, no. 1, p. 94, 2021.
[16] M. J. Solomito, E. J. Garibay, E. Golan, and C. W. Nissen, “Elbow flexion post ball release is associated with the elbow varus deceleration moments in baseball pitching,” Sports Biomechanics, vol. 20, no. 3, pp. 370–379, 2021, doi: 10.1080/14763141.2019.1605779.
[17] B. C. Tham and D. B. Pham, “Modeling and second-order sliding mode control for a full three-dimensional ridable ballbot,” International Journal of Modelling and Simulation, vol. 45, no. 3, pp. 948–969, 2025.
[18] T. Yamaguchi, S. Suzuki, S. Suzuki, T. Nishi, T. Fukuda, and D. Nasu, “Effect of finger–ball friction on upper limb movement during fastball pitching in baseball,” Scientific Reports, vol. 15, no. 1, p. 27759, 2025, doi: 10.1038/s41598-025-27759-0.
[19] H. Zhang, Q. Jiang, and A. Li, “The impact of resistance-based training programs on throwing performance and throwing-related injuries in baseball players: A systematic review,” Heliyon, vol. 9, no. 12, 2023, doi: 10.1016/j.heliyon.2023.e22659.
 
 

  • تاریخ دریافت 28 تیر 1404
  • تاریخ بازنگری 23 مهر 1404
  • تاریخ پذیرش 12 آبان 1404
  • تاریخ اولین انتشار 12 آبان 1404
  • تاریخ انتشار 01 بهمن 1404