Fuzzy Logic Control for a Soft Exoskeleton Glove Using a Motor-Tendon Actuator
A hand is one of the essential limbs on the human body that is used for daily activities. The aim of this research is to develop a soft exoskeleton hand to assist people with hand deterioration. The developed exo-glove is made of low-cost RTV (room-temperature vulcanizing) silicone rubber with a mot...
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Universidad Nacional de Colombia
2021-01-01
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doaj-af94cc174e3943dc96dec323147fea612021-03-25T21:24:31ZengUniversidad Nacional de ColombiaIngeniería e Investigación0120-56092248-87232021-01-01411e81531e8153110.15446/inginvestig.v41n1.8153165139Fuzzy Logic Control for a Soft Exoskeleton Glove Using a Motor-Tendon ActuatorJoga Dharma Setiawan0Mochammad Ariyanto1Sri Nugroho2Rifky Ismail3Tedi Purbayanto4Haeryip Sihombing5Universitas Diponegoro IndonesiaDiponegoro UniversityDiponegoro UniversityDiponegoro UniversityDiponegoro UniversityUniversiti Teknikal Malaysia Melaka (UTeM)A hand is one of the essential limbs on the human body that is used for daily activities. The aim of this research is to develop a soft exoskeleton hand to assist people with hand deterioration. The developed exo-glove is made of low-cost RTV (room-temperature vulcanizing) silicone rubber with a motor-tendon actuation system that produces the flexion and extension motion. Here, the actuator converts rotation motion into linear motion from DC motor, while a potentiometer sensor is utilized to measure the rotation angle on the actuator system, in which fuzzy logic control (FLC) is employed for controlling the motion of the proposed motor-tendon actuator. To validate the function and mechanism of the developed soft exoskeleton glove, testing was conducted towards the FLC performance on the healthy human hand for various object grasping tests. Based on the test results, this study shows that the soft glove can be implemented on the human hand as an assistive device.https://revistas.unal.edu.co/index.php/ingeinv/article/view/81531fuzzy logic controlsoft exoskeletonassistive devicemotor-tendon actuator |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Joga Dharma Setiawan Mochammad Ariyanto Sri Nugroho Rifky Ismail Tedi Purbayanto Haeryip Sihombing |
spellingShingle |
Joga Dharma Setiawan Mochammad Ariyanto Sri Nugroho Rifky Ismail Tedi Purbayanto Haeryip Sihombing Fuzzy Logic Control for a Soft Exoskeleton Glove Using a Motor-Tendon Actuator Ingeniería e Investigación fuzzy logic control soft exoskeleton assistive device motor-tendon actuator |
author_facet |
Joga Dharma Setiawan Mochammad Ariyanto Sri Nugroho Rifky Ismail Tedi Purbayanto Haeryip Sihombing |
author_sort |
Joga Dharma Setiawan |
title |
Fuzzy Logic Control for a Soft Exoskeleton Glove Using a Motor-Tendon Actuator |
title_short |
Fuzzy Logic Control for a Soft Exoskeleton Glove Using a Motor-Tendon Actuator |
title_full |
Fuzzy Logic Control for a Soft Exoskeleton Glove Using a Motor-Tendon Actuator |
title_fullStr |
Fuzzy Logic Control for a Soft Exoskeleton Glove Using a Motor-Tendon Actuator |
title_full_unstemmed |
Fuzzy Logic Control for a Soft Exoskeleton Glove Using a Motor-Tendon Actuator |
title_sort |
fuzzy logic control for a soft exoskeleton glove using a motor-tendon actuator |
publisher |
Universidad Nacional de Colombia |
series |
Ingeniería e Investigación |
issn |
0120-5609 2248-8723 |
publishDate |
2021-01-01 |
description |
A hand is one of the essential limbs on the human body that is used for daily activities. The aim of this research is to develop a soft exoskeleton hand to assist people with hand deterioration. The developed exo-glove is made of low-cost RTV (room-temperature
vulcanizing) silicone rubber with a motor-tendon actuation system that produces the flexion and extension motion. Here, the actuator converts rotation motion into linear motion from DC motor, while a potentiometer sensor is utilized to measure the
rotation angle on the actuator system, in which fuzzy logic control (FLC) is employed for controlling the motion of the proposed motor-tendon actuator. To validate the function and mechanism of the developed soft exoskeleton glove, testing was conducted towards the FLC performance on the healthy human hand for various object grasping tests. Based on the test results, this study
shows that the soft glove can be implemented on the human hand as an assistive device. |
topic |
fuzzy logic control soft exoskeleton assistive device motor-tendon actuator |
url |
https://revistas.unal.edu.co/index.php/ingeinv/article/view/81531 |
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