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:	TA Engineering (General). Civil engineering (General) TK Electrical engineering. Electronics Nuclear engineering
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
_version_	1777416281029345280

The identification and control of a finger exoskeleton for grasping rehabilitation

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