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

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...

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Main Author:	Muhammad Nasir Annadurai, Mohd Nizar
Format:	Thesis
Language:	English English English
Published:	2023
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.uthm.edu.my/10979/1/24p%20MOHD%20NIZAR%20MUHAMMAD%20NASIR%20ANNADURAI.pdf http://eprints.uthm.edu.my/10979/2/MOHD%20NIZAR%20MUHAMMAD%20NASIR%20ANNADURAI%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/10979/3/MOHD%20NIZAR%20MUHAMMAD%20NASIR%20ANNADURAI%20WATERMARK.pdf
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id	my-uthm-ep.10979
record_format	uketd_dc
spelling	my-uthm-ep.109792024-05-20T01:26:43Z Modelling and angle control of fiber braided bending actuator for finger rehabilitation 2023-09 Muhammad Nasir Annadurai, Mohd Nizar TJ Mechanical engineering and machinery 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 2023-09 Thesis http://eprints.uthm.edu.my/10979/ http://eprints.uthm.edu.my/10979/1/24p%20MOHD%20NIZAR%20MUHAMMAD%20NASIR%20ANNADURAI.pdf text en public http://eprints.uthm.edu.my/10979/2/MOHD%20NIZAR%20MUHAMMAD%20NASIR%20ANNADURAI%20COPYRIGHT%20DECLARATION.pdf text en staffonly http://eprints.uthm.edu.my/10979/3/MOHD%20NIZAR%20MUHAMMAD%20NASIR%20ANNADURAI%20WATERMARK.pdf text en validuser mphil masters Universiti Tun Hussein Onn Malaysia Fakulti Teknologi Kejuruteraan
institution	Universiti Tun Hussein Onn Malaysia
collection	UTHM Institutional Repository
language	English English English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Muhammad Nasir Annadurai, Mohd Nizar Modelling and angle control of fiber braided bending actuator for finger rehabilitation
description	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
format	Thesis
qualification_name	Master of Philosophy (M.Phil.)
qualification_level	Master's degree
author	Muhammad Nasir Annadurai, Mohd Nizar
author_facet	Muhammad Nasir Annadurai, Mohd Nizar
author_sort	Muhammad Nasir Annadurai, Mohd Nizar
title	Modelling and angle control of fiber braided bending actuator for finger rehabilitation
title_short	Modelling and angle control of fiber braided bending actuator for finger rehabilitation
title_full	Modelling and angle control of fiber braided bending actuator for finger rehabilitation
title_fullStr	Modelling and angle control of fiber braided bending actuator for finger rehabilitation
title_full_unstemmed	Modelling and angle control of fiber braided bending actuator for finger rehabilitation
title_sort	modelling and angle control of fiber braided bending actuator for finger rehabilitation
granting_institution	Universiti Tun Hussein Onn Malaysia
granting_department	Fakulti Teknologi Kejuruteraan
publishDate	2023
url	http://eprints.uthm.edu.my/10979/1/24p%20MOHD%20NIZAR%20MUHAMMAD%20NASIR%20ANNADURAI.pdf http://eprints.uthm.edu.my/10979/2/MOHD%20NIZAR%20MUHAMMAD%20NASIR%20ANNADURAI%20COPYRIGHT%20DECLARATION.pdf http://eprints.uthm.edu.my/10979/3/MOHD%20NIZAR%20MUHAMMAD%20NASIR%20ANNADURAI%20WATERMARK.pdf
_version_	1804890130131976192

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

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