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 proceedingChapterpeer-review


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 languageEnglish
Title of host publicationLecture Notes in Mechanical Engineering
PublisherPleiades journals
Number of pages6
ISBN (Print)9783319666969, 9783319686189, 9789811053283, 9789811322723
Publication statusPublished - 2018
Externally publishedYes

Publication series

NameLecture Notes in Mechanical Engineering
ISSN (Print)2195-4356
ISSN (Electronic)2195-4364


  • Grasping exoskeleton
  • PID
  • Rehabilitation


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