Abstract

The paper presents an angular velocity controller for the pneumatic soft robotic gloves which are applied to medical hand rehabilitation and performance augmentation. In order to configure the reliable control parameters, linear dynamic second-order state-space models of five robotic digits were identified by the experimental data. Using the identified models, proportional-integral (PI) control parameters were tuned by simulation studies. The tuned PI parameters were verified by experiment, which demonstrates that the system identification and simulation studies are reliable and can reduce the manual tuning time and prevent tuning hardware wear.

Issue Section:
Research Papers
Keywords:
computer aided control design, identification, medical robotics, PID control, pneumatics
Topics:
Robotics, Hardware

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