Fuzzy Logic Control for a Soft Exoskeleton Glove Using a Motor-Tendon Actuator
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| Natura: | Artículo científico |
| Lingua: | en |
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Universidad Nacional de Colombia
2021
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| _version_ | 1876426076250439680 |
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| author | Joga Dharma Setiawan |
| author_facet | Joga Dharma Setiawan |
| contents | Fuzzy Logic Control for a Soft Exoskeleton Glove Using a Motor-Tendon Actuator Joga Dharma Setiawan Mochammad Ariyanto Sri Nugroho Rifky Ismail Tedi Purbayanto Haeryip Sihombing Ingeniería motor tendon actuator assistive device Fuzzy logic control soft exoskeleton glove 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. 2021 artículo científico 0120-5609 https://www.redalyc.org/articulo.oa?id=64379868007 https://www.redalyc.org/journal/643/64379868007/ https://www.redalyc.org/journal/643/64379868007/html/ https://www.redalyc.org/journal/643/64379868007/64379868007.epub https://www.redalyc.org/journal/643/64379868007/movil 10.15446/ing.investig.v41n1.81531 en http://www.redalyc.org/revista.oa?id=643 Ingeniería e Investigación application/pdf Universidad Nacional de Colombia Ingeniería e Investigación (Colombia) Num.1 Vol.41 |
| format | Artículo científico |
| id | redalyc_64379868007 |
| institution | Redalyc |
| language | en |
| publishDate | 2021 |
| publisher | Universidad Nacional de Colombia |
| spellingShingle | Fuzzy Logic Control for a Soft Exoskeleton Glove Using a Motor-Tendon Actuator Joga Dharma Setiawan Ingeniería motor tendon actuator assistive device Fuzzy logic control soft exoskeleton glove Fuzzy Logic Control for a Soft Exoskeleton Glove Using a Motor-Tendon Actuator Joga Dharma Setiawan Mochammad Ariyanto Sri Nugroho Rifky Ismail Tedi Purbayanto Haeryip Sihombing Ingeniería motor tendon actuator assistive device Fuzzy logic control soft exoskeleton glove 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. 2021 artículo científico 0120-5609 https://www.redalyc.org/articulo.oa?id=64379868007 https://www.redalyc.org/journal/643/64379868007/ https://www.redalyc.org/journal/643/64379868007/html/ https://www.redalyc.org/journal/643/64379868007/64379868007.epub https://www.redalyc.org/journal/643/64379868007/movil 10.15446/ing.investig.v41n1.81531 en http://www.redalyc.org/revista.oa?id=643 Ingeniería e Investigación application/pdf Universidad Nacional de Colombia Ingeniería e Investigación (Colombia) Num.1 Vol.41 |
| title | Fuzzy Logic Control for a Soft Exoskeleton Glove Using a Motor-Tendon Actuator |
| topic | Ingeniería motor tendon actuator assistive device Fuzzy logic control soft exoskeleton glove |
| url | https://www.redalyc.org/articulo.oa?id=64379868007 https://www.redalyc.org/journal/643/64379868007/ https://www.redalyc.org/journal/643/64379868007/html/ https://www.redalyc.org/journal/643/64379868007/64379868007.epub https://www.redalyc.org/journal/643/64379868007/movil |