Modelling and angle control of fiber braided bending actuator for finger rehabilitation

Muhammad Nasir Annadurai, Mohd Nizar (2023) Modelling and angle control of fiber braided bending actuator for finger rehabilitation. Masters thesis, Universiti Tun Hussein Onn Malaysia.

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Abstract

Stroke is a prominent cause of disability on a global scale, often resulting in hand impairment that significantly hinders a person's ability to carry out daily activities. Soft actuators present a promising technology for addressing hand impairment in stroke patients, offering a more versatile and adaptable approach to actuation. Despite the benefits of soft actuators, their nonlinearity presents a challenge when it comes to modeling, controlling, and achieving swift response times. Due to the nonlinearity of the system, open-loop systems are not suitable for soft actuator applications. Open-loop controlled pneumatic actuator muscles often struggle with high precision control. The drawbacks can be addressed by implementing a closed-loop control system. The objective of a closed-loop control approach is to perform a dynamic task while enhancing precision, robustness, and actuator conformance to the environment. In this study, one approach to implementing closed-loop control is through system identification (SI), using a transfer function that simulates the actual actuator. The auto-regressive model structure was selected for this study. Pseudo-random binary sequences were employed as the input signal for the SI process. The implementation of a proportional-integral-derivative (PID) controller enabled the control of the angle of the Fiber Braided Bending Actuator (FBBA). Additionally, two tuning techniques were proposed for the PID controller, namely the auto-tuning method and the genetic algorithm method. Both controllers' real-time experiments and simulations are analyzed. The results indicate that, compared to PID tuned using the auto-tuning method, PID tuned using GA demonstrates a significant improvement in both simulation and real-time experiments

Item Type:	Thesis (Masters)
Subjects:	T Technology > TJ Mechanical engineering and machinery
Divisions:	Faculty of Engineering Technology > Department of Civil Engineering Technology
Depositing User:	Mrs. Sabarina Che Mat
Date Deposited:	20 May 2024 01:26
Last Modified:	20 May 2024 01:26
URI:	http://eprints.uthm.edu.my/id/eprint/10979

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