The identification and control of a finger exoskeleton for grasping rehabilitation

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 m...

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Main Authors: 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
Other Authors: Mohd Hasnun Ariff, Hassan
Format: Book Section
Language:English
English
Published: Springer Singapore 2018
Subjects:
Online Access:http://umpir.ump.edu.my/id/eprint/21163/
http://umpir.ump.edu.my/id/eprint/21163/
http://umpir.ump.edu.my/id/eprint/21163/
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
id ump-21163
recordtype eprints
spelling ump-211632018-08-07T04:06:18Z http://umpir.ump.edu.my/id/eprint/21163/ The identification and control of a finger exoskeleton for grasping rehabilitation 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 TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering 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. Springer Singapore Mohd Hasnun Ariff, Hassan 2018-04-28 Book Section PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/21163/7/Identification%20and%20Control%20of%20a%20finger%20exoskeleton-fkp-2018-1.pdf pdf en http://umpir.ump.edu.my/id/eprint/21163/13/book41%20The%20identification%20and%20control%20of%20a%20finger%20exoskeleton%20for%20grasping%20rehabilitation.pdf 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 https://doi.org/10.1007/978-981-10-8788-2_17 DOI: 10.1007/978-981-10-8788-2_17
repository_type Digital Repository
institution_category Local University
institution Universiti Malaysia Pahang
building UMP Institutional Repository
collection Online Access
language English
English
topic TA Engineering (General). Civil engineering (General)
TK Electrical engineering. Electronics Nuclear engineering
spellingShingle TA Engineering (General). Civil engineering (General)
TK Electrical engineering. Electronics Nuclear engineering
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
The identification and control of a finger exoskeleton for grasping rehabilitation
description 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.
author2 Mohd Hasnun Ariff, Hassan
author_facet Mohd Hasnun Ariff, Hassan
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
format Book Section
author 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
author_sort Zahari, Taha
title The identification and control of a finger exoskeleton for grasping rehabilitation
title_short The identification and control of a finger exoskeleton for grasping rehabilitation
title_full The identification and control of a finger exoskeleton for grasping rehabilitation
title_fullStr The identification and control of a finger exoskeleton for grasping rehabilitation
title_full_unstemmed The identification and control of a finger exoskeleton for grasping rehabilitation
title_sort identification and control of a finger exoskeleton for grasping rehabilitation
publisher Springer Singapore
publishDate 2018
url http://umpir.ump.edu.my/id/eprint/21163/
http://umpir.ump.edu.my/id/eprint/21163/
http://umpir.ump.edu.my/id/eprint/21163/
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
first_indexed 2023-09-18T22:30:56Z
last_indexed 2023-09-18T22:30:56Z
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