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.
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Makarem,H and Haghpanah,S A . (2026). Design of an optimal sliding mode controller for modeling and dynamic analysis of hand motion in baseball throwing. Science and Technology in Mechanical Engineering, 4(2), 191-204. doi: 10.22034/stme.2025.535646.1150
MLA
Makarem,H , and Haghpanah,S A . "Design of an optimal sliding mode controller for modeling and dynamic analysis of hand motion in baseball throwing", Science and Technology in Mechanical Engineering, 4, 2, 2026, 191-204. doi: 10.22034/stme.2025.535646.1150
HARVARD
Makarem H, Haghpanah S A. (2026). 'Design of an optimal sliding mode controller for modeling and dynamic analysis of hand motion in baseball throwing', Science and Technology in Mechanical Engineering, 4(2), pp. 191-204. doi: 10.22034/stme.2025.535646.1150
CHICAGO
H Makarem and S A Haghpanah, "Design of an optimal sliding mode controller for modeling and dynamic analysis of hand motion in baseball throwing," Science and Technology in Mechanical Engineering, 4 2 (2026): 191-204, doi: 10.22034/stme.2025.535646.1150
VANCOUVER
Makarem H, Haghpanah S A. Design of an optimal sliding mode controller for modeling and dynamic analysis of hand motion in baseball throwing. STME. 2026;4(2):191-204 (In Persian). doi: 10.22034/stme.2025.535646.1150
Science and Technology in Mechanical Engineering