Controller design for nonlinear motorized prosthetic hand system

Abdul Razak, Nur Awanis (2017) Controller design for nonlinear motorized prosthetic hand system. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

This paper described the controller design for nonlinear motorized prosthetic finger system. It can be used as a human assistive device to the amputee. Since the prosthetic device is wear by human, the accuracy of the system is crucially important to avoid unnecessary hazard to the user. In addition, the mathematical modelling of the system need to be find appropriately to ensure the accuracy of the system later on. The main objective of this project is to design the controller for the system. There are many type of controller that can be used in order to design the stable system of nonlinear actuated finger such as Proportional Integral (PI), Proportional Integral and Derivative (PID) and Fuzzy Logic controller. In this project, the Proportional Integral and Derivative (PID) controller will be use. The tuning of PID control parameter is for the position reference design and the position feedback control of the motor. Gradient Descent or Auto tune method can be used to improve the transient response performance of the motor by tuning the parameter of PID control. From this project, it is expected that prosthetic finger will move according to the desired position and smoothly with the presence of PID controller. The value of rise time, settling time, overshoot and steady state error can also be improved.

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