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; Mohd Hasnun Arif Hassan

doi:10.1007/978-981-10-8788-2_17

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, Mohd Hasnun Arif Hassan

^*Corresponding author for this work

Research output: Chapter in Book or Report/Conference proceeding › Chapter › peer-review

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.

Original language	English
Title of host publication	Lecture Notes in Mechanical Engineering
Publisher	Pleiades journals
Pages	177-182
Number of pages	6
Edition	9789811087875
ISBN (Print)	9783319666969, 9783319686189, 9789811053283, 9789811322723
DOIs	https://doi.org/10.1007/978-981-10-8788-2_17
Publication status	Published - 2018
Externally published	Yes

Publication series

Name	Lecture Notes in Mechanical Engineering
Number	9789811087875
Volume	0
ISSN (Print)	2195-4356
ISSN (Electronic)	2195-4364

Keywords

Grasping exoskeleton
PID
Rehabilitation

Access to Document

10.1007/978-981-10-8788-2_17

Cite this

Taha, Z., Alim, M. M., Abdul Majeed, A. P. P., Zakaria, M. A., Razman, M. A. M., Shaharudin, M. A. H., & Hassan, M. H. A. (2018). The identification and control of a finger exoskeleton for grasping rehabilitation. In Lecture Notes in Mechanical Engineering (9789811087875 ed., pp. 177-182). (Lecture Notes in Mechanical Engineering; Vol. 0, No. 9789811087875). Pleiades journals. https://doi.org/10.1007/978-981-10-8788-2_17

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title = "The identification and control of a finger exoskeleton for grasping rehabilitation",

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.",

keywords = "Grasping exoskeleton, PID, Rehabilitation",

author = "Zahari Taha and Alim, {Muhammad Muaz} and {Abdul Majeed}, {Anwar P.P.} and Zakaria, {Muhammad Aizzat} and Razman, {Mohd Azraai Mohd} and Shaharudin, {Mohd Ali Hanafiah} and Hassan, {Mohd Hasnun Arif}",

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doi = "10.1007/978-981-10-8788-2_17",

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Taha, Z, Alim, MM, Abdul Majeed, APP, Zakaria, MA, Razman, MAM, Shaharudin, MAH & Hassan, MHA 2018, The identification and control of a finger exoskeleton for grasping rehabilitation. in Lecture Notes in Mechanical Engineering. 9789811087875 edn, Lecture Notes in Mechanical Engineering, no. 9789811087875, vol. 0, Pleiades journals, pp. 177-182. https://doi.org/10.1007/978-981-10-8788-2_17

The identification and control of a finger exoskeleton for grasping rehabilitation. / Taha, Zahari; Alim, Muhammad Muaz; Abdul Majeed, Anwar P.P. et al.
Lecture Notes in Mechanical Engineering. 9789811087875. ed. Pleiades journals, 2018. p. 177-182 (Lecture Notes in Mechanical Engineering; Vol. 0, No. 9789811087875).

Research output: Chapter in Book or Report/Conference proceeding › Chapter › peer-review

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The identification and control of a finger exoskeleton for grasping rehabilitation

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