Performance evaluation of controllers for a bionic finger system
DOI:
https://doi.org/10.29059/cienciauat.v19i2.1895Keywords:
bionic finger, optimal control, proportional controlAbstract
Technological advances have enabled the development of devices to compensate for the loss of a limb; however, their current cost still makes them inaccessible for people with limited resources and, in many cases, even for those with moderate incomes. There is extensive development, both scientific and amateur, of bionic fingers, but it is common for control techniques to be overlooked in their manipulation. The objective of this study was to evaluate the performance of four types of closed-loop controllers in the stable operation of a bionic finger. The controllers used were proportional plus compensation, optimal proportional plus compensation, proportional-integral with pole placement, and proportional-integral with Ziegler-Nichols tuning, in a bionic finger specifically adapted for this study. Control theory was applied to determine which controller had a better effect on overshoot and oscillations in the bionic finger. The proportional plus compensation controller showed the best performance, with less impact on overshoot and control signal oscillations, demonstrating its viability for use in bionic devices and its potential incorporation into a hand prosthesis to help amputees regain part of their diminished capabilities.
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