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A 6-PAM-based joint mechanism is designed to achieve compound motions, including flexion\u2013extension, internal\u2013external rotation, and abduction\u2013adduction via a rotary antagonistic structure. The mechanical characteristics of the PAMs are identified using a particle swarm optimization (PSO) algorithm, and a nonlinear model incorporating hysteresis and coupling effects is established. To enhance control performance, a sliding mode controller (ASTSMC) based on a saturated sliding surface and adaptive super-twisting disturbance compensation is proposed. The global asymptotic stability of the closed-loop system is rigorously proven using Lyapunov theory. Simulation experiments are conducted in MATLAB under three scenarios: step response, sinusoidal tracking, and disturbance rejection. Results show that the proposed controller reduces the average steady-state error (SSE) to 0.00027[Formula: see text]rad with a maximum overshoot of only 0.22% in the step response test. For sinusoidal tracking, the average root-mean-square error (RMSE) is 0.00020[Formula: see text]rad. In the disturbance rejection test, the average SSE is suppressed to 0.00155[Formula: see text]rad. These results verify the proposed controller\u2019s superior response speed, accuracy, and robustness under dynamic loading conditions.<\/jats:p>","DOI":"10.1142\/s1793962325500862","type":"journal-article","created":{"date-parts":[[2025,12,24]],"date-time":"2025-12-24T11:20:47Z","timestamp":1766575247000},"source":"Crossref","is-referenced-by-count":0,"title":["Simulation study on the design and control of humanoid shoulder joint based on pneumatic artificial muscle drive"],"prefix":"10.1142","volume":"17","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7761-1561","authenticated-orcid":false,"given":"Yu","family":"Liu","sequence":"first","affiliation":[{"name":"Beijing Institute of Petrochemical Technology, P. R. 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