Angular Velocity Control of Pneumatic Soft Robotic Digits

dc.contributor.author	Shi, W. Y.
dc.contributor.author	Wijesundara, Muthu B. J.
dc.date.accessioned	2022-02-05T21:56:34Z
dc.date.available	2022-02-05T21:56:34Z
dc.date.copyright	3/11/2021 12:00:00 AM
dc.date.issued	2021
dc.identifier.issn	2689-6117
dc.identifier.other	aldsc_1_3_031015.pdf
dc.identifier.uri	http://yetl.yabesh.ir/yetl1/handle/yetl/4276611
dc.description.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.
dc.publisher	The American Society of Mechanical Engineers (ASME)
dc.title	Angular Velocity Control of Pneumatic Soft Robotic Digits
dc.type	Journal Paper
dc.journal.volume	1
dc.journal.issue	3
dc.journal.title	ASME Letters in Dynamic Systems and Control
dc.identifier.doi	10.1115/1.4050128
dc.journal.fristpage	031015-1
dc.journal.lastpage	031015-6
dc.page	6
dc.tree	ASME Letters in Dynamic Systems and Control:;2021:;volume( 001 ):;issue: 003
dc.contenttype	Fulltext