Performance evaluation of controllers for a bionic finger system

Performance evaluation of controllers for a bionic finger system

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 a...

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Main Authors: Sánchez-Garnica, Erick Javier, Rodríguez-Guerrero, Liliam, Ortega-Palacios, Rocío, Santos-Sánchez, Omar Jacobo
Format: Online
Language:spa
Published: Universidad Autónoma de Tamaulipas 2024
Online Access:https://revistaciencia.uat.edu.mx/index.php/CienciaUAT/article/view/1895
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spelling oai:ojs.pkp.sfu.ca:article-18952024-07-19T23:51:52Z Performance evaluation of controllers for a bionic finger system Evaluación de desempeño de controladores para un sistema de dedo biónico Sánchez-Garnica, Erick Javier Rodríguez-Guerrero, Liliam Ortega-Palacios, Rocío Santos-Sánchez, Omar Jacobo bionic finger optimal control proportional control dedo biónico control óptimo control proporcional 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. Los avances tecnológicos han permitido el desarrollo de dispositivos para suplir la pérdida de un miembro del cuerpo, sin embargo, su costo actual todavía los hace inaccesibles para personas de escasos recursos y, en muchos casos, incluso con ingresos moderados. Existe un amplio desarrollo tanto científico, como aficionado, de dedos biónicos, pero es común que no se considere alguna técnica de control para manipularlos. El objetivo del presente estudio fue evaluar el desempeño de cuatro tipos de controladores de lazo cerrado, en el funcionamiento estable de un dedo biónico. Se trabajó con los controladores proporcional más compensación, proporcional óptimo más compensación, proporcional integral por asignación de polos y proporcional integral por Ziegler-Nichols, en un dedo biónico adaptado específicamente para su estudio. Se utilizó la teoría de control para determinar cuál controlador mostraba un mejor efecto en el sobreimpulso y las oscilaciones del dedo biónico. El controlador de tipo proporcional más compensación presentó el mejor desempeño afectando menos el sobreimpulso y las oscilaciones en la señal de control, demostrando su viabilidad para ser utilizado en dispositivos biónicos para su posible incorporación en una prótesis de mano, destinada a ayudar a las personas amputadas a recuperar parte de sus capacidades disminuidas. Universidad Autónoma de Tamaulipas 2024-10-04 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion application/pdf text/html https://revistaciencia.uat.edu.mx/index.php/CienciaUAT/article/view/1895 10.29059/cienciauat.v19i2.1895 CienciaUAT; Vol 19 No. 2. January-June 2025 CienciaUAT; Vol. 19 No. 2: Enero-Junio 2025 2007-7858 2007-7521 spa https://revistaciencia.uat.edu.mx/index.php/CienciaUAT/article/view/1895/1252 https://revistaciencia.uat.edu.mx/index.php/CienciaUAT/article/view/1895/1255 Derechos de autor 2024 Universidad Autónoma de Tamaulipas https://creativecommons.org/licenses/by-nc-sa/4.0
institution CIENCIA UAT
collection OJS
language spa
format Online
author Sánchez-Garnica, Erick Javier
Rodríguez-Guerrero, Liliam
Ortega-Palacios, Rocío
Santos-Sánchez, Omar Jacobo
spellingShingle Sánchez-Garnica, Erick Javier
Rodríguez-Guerrero, Liliam
Ortega-Palacios, Rocío
Santos-Sánchez, Omar Jacobo
Performance evaluation of controllers for a bionic finger system
author_facet Sánchez-Garnica, Erick Javier
Rodríguez-Guerrero, Liliam
Ortega-Palacios, Rocío
Santos-Sánchez, Omar Jacobo
author_sort Sánchez-Garnica, Erick Javier
title Performance evaluation of controllers for a bionic finger system
title_short Performance evaluation of controllers for a bionic finger system
title_full Performance evaluation of controllers for a bionic finger system
title_fullStr Performance evaluation of controllers for a bionic finger system
title_full_unstemmed Performance evaluation of controllers for a bionic finger system
title_sort performance evaluation of controllers for a bionic finger system
description 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.
publisher Universidad Autónoma de Tamaulipas
publishDate 2024
url https://revistaciencia.uat.edu.mx/index.php/CienciaUAT/article/view/1895
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