Trajectory Control in Discrete-Time Nonlinear Coupling Dynamics of a Soft Exo-Digit and a Human Finger Using Input–Output Feedback Linearization
نویسندگان
چکیده
This paper presents a quasi-static model-based control algorithm for controlling the motion of soft robotic exo-digit with three independent actuation joints physically interacting human finger. A analytical model physical interaction between and finger was developed. Then, presented as nonlinear discrete-time multiple-input multiple-output (MIMO) state-space representation system design. Input–output feedback linearization utilized input designed to linearize input–output, where is pressure an individual actuator, output pose fingertip. The asymptotic stability trajectory tracking discussed. exoskeleton digit (exo-digit) 3D-printed human-finger integrated IMU sensors were used experimental test setup. An Arduino-based electro-pneumatic hardware developed exo-digit. effectiveness controller examined through simulation studies testing following different trajectories corresponding during activities daily living. able follow desired very low average root-mean-square error 2.27 mm in x-direction, 2.75 y-direction, 3.90 degrees orientation distal link about z-axis.
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ژورنال
عنوان ژورنال: Automation
سال: 2023
ISSN: ['2673-4052']
DOI: https://doi.org/10.3390/automation4020011