The identification and control of a finger exoskeleton for grasping rehabilitation

• المؤلفون الرئيسيون: Zahari, Taha, Muhammad Muaz, Alim, Anwar, P. P. Abdul Majeed, Muhammad Aizzat, Zakaria, Mohd Azraai, Mohd Razman, Mohd Ali Hanafiah, Shaharudin, M. H. A., Hassan
• مؤلفون آخرون: Mohd Hasnun Ariff, Hassan
• التنسيق: فصل الكتاب
• اللغة: English; English
• منشور في: Springer Singapore 2018
• الموضوعات: TA Engineering (General). Civil engineering (General); TK Electrical engineering. Electronics Nuclear engineering
• الوصول للمادة أونلاين: http://umpir.ump.edu.my/id/eprint/21163/7/Identification%20and%20Control%20of%20a%20finger%20exoskeleton-fkp-2018-1.pdf; http://umpir.ump.edu.my/id/eprint/21163/13/book41%20The%20identification%20and%20control%20of%20a%20finger%20exoskeleton%20for%20grasping%20rehabilitation.pdf; http://umpir.ump.edu.my/id/eprint/21163/; https://doi.org/10.1007/978-981-10-8788-2_17
• المؤسسة: Universiti Malaysia Pahang Al-Sultan Abdullah

This paper evaluates the efficacy of different classical control architectures in performing grasping motion. The exoskeleton system was obtained via system identification method in which the input and output data was measured by means of current sensor (ACS712) and encoder attached to a DC geared motor (SPG30e-270k). The data obtained is split with a ratio of 70:30 for estimation and validation, respectively. The transfer function of the system is evaluated by varying the number of poles and zeros that are able to fit well with validation data. The performance of the classical P, PI, PD and PID control techniques were then evaluated in its ability to track the desired trajectory. It was demonstrated from the study that the PID controller provides the least steady state error as well as a reasonably fast settling time.