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Fuzzy Logic Control for a Soft Exoskeleton Glove Using a Motor-Tendon Actuator
Control de lógica difusa para un guante de exoesqueleto suave que utiliza un actuador motor-tendón
DOI:
https://doi.org/10.15446/ing.investig.v41n1.81531Keywords:
Fuzzy logic control, Soft exoskeleton, Assistive device, Motor-tendon actuator (en)Control lógica difusa, exoesqueleto blando, dispositivo de asistencia, actuador motor-tendón (es)
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.
La mano es una de las extremidades más importantes del cuerpo humano que se utiliza para actividades de la vida diaria. El objetivo de esta investigación es desarrollar una mano exoesqueleto suave para ayudar a las personas con la mano deteriorada. El exo-guante desarrollado está hecho de caucho de silicona RTV (vulcanización a temperatura ambiente) de bajo costo con un sistema de accionamiento motor-tendón que produce el movimiento de flexión y extensión. Aquí, el actuador convierte el movimiento de rotación en movimiento lineal del motor de DC, mientras que se utiliza un sensor de potenciómetro para medir el ángulo de rotación en el sistema del actuador, en el que se utiliza el control lógico difuso (FLC) para controlar el movimiento del actuador motor-tendón propuesto. Para validar la función y el mecanismo del exo-guante blando desarrollado se realizaron pruebas para lograr el rendimiento de FLC en la mano humana sana en varias pruebas de agarre de objetos. Según los resultados de la prueba, este estudio muestra que el guante blando se puede implementar en la mano humana como un dispositivo de asistencia.
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Copyright (c) 2021 Haeryip Sihombing, Joga Dharma Setiawan
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