The identification and control of a finger exoskeleton for grasping rehabilitation

• 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/21163/7/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; http://umpir.ump.edu.my/id/eprint/21163/; https://doi.org/10.1007/978-981-10-8788-2_17

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...