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The identification and control of a finger exoskeleton for grasping rehabilitation

Zahari, Taha and Muhammad Muaz, Alim and Anwar, P. P. Abdul Majeed and Muhammad Aizzat, Zakaria and Mohd Azraai, Mohd Razman and Mohd Ali Hanafiah, Shaharudin and M. H. A., Hassan (2018) The identification and control of a finger exoskeleton for grasping rehabilitation. In: Intelligent Manufacturing & Mechatronics: Proceedings of Symposium, 29 January 2018, Pekan, Pahang, Malaysia. Lecture Notes in Mechanical Engineering . Springer Singapore, Singapore, pp. 177-182. ISBN 9789811087875

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Abstract

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.

Item Type: Book Section
Uncontrolled Keywords: Grasping; Exoskeleton; PID; Rehabilitation
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division: Faculty of Manufacturing Engineering
Depositing User: Dr. Mohd Hasnun Arif Hassan
Date Deposited: 28 May 2018 05:57
Last Modified: 07 Aug 2018 04:06
URI: http://umpir.ump.edu.my/id/eprint/21163
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