Design, Dynamic Modeling and Control of Wearable Finger Orthosis

Abstract

Human hands and fingers are of significant importance in people’s capacity to perform daily tasks (touching, feeling, holding, gripping, writing). However, about 1.5 million people around the world are suffering from injuries, muscle and neurological disorders, a loss of hand function, or a few fingers due to stroke. This paper focuses on newly developed finger orthotics, which is thin, adaptable to the length of each finger and low energy costs. The aim of the study is to design and control a new robotic orthosis using for daily rehabilitation therapy. Kinematic and dynamic analysis of orthosis was calculated and the joint regulation of orthosis was obtained. The Lagrange method was used to obtain dynamics, and the Denavit–Hartenberg (D–H) method was used for kinematic analysis of hand. In order to understand its behavior, the robotic finger orthotics model was simulated in MatLab/Simulink. The simulation results show that the efficiency and robustness of proportional integral derivative (PID) controller are appropriate for the use of robotic finger orthotics.

Optimal Position Fuzzy Control of an Underactuated Robotic Finger

“…On the other hand, the numerical results presented in [12,14] show settling times of less than 5 sec, but the control parameters are manually obtained. Tasar et al [11] used a PID controller for a regulation problem of a full-actuated robotic nger. A maximum overshoot of 14.902 °was achieved for a reference of 90 °for each actuated phalanx.…”

“…Generally, the control systems have a closed-loop structure, since they seek to reduce errors so that the hand nger can maintain a speci c desired position [1,2], by using pneumatic [3][4][5] and touch [6][7][8] sensors. In the literature, the most common control schemes are the proportional-integral-derivative (PID) control [9][10][11] and fuzzy control [12][13][14]. Controllers based on fuzzy logic are an alternative solution that does not require a mathematical model such as the PID [15].…”