Control Techniques of Multi-Fingered Hand for Rehabilitation

摘要

Abstract The use of the robotic hand today has been widely studied. So many ideas from robot designers to create different types of robots and have their functionality. Today the use of robots has been widely used everywhere such as factories, hospitals, homes, offices and others. Several factors are contributing to the increase in hand robot construction in hospitals due to the high demand in hand rehabilitation for stroke patients. In this study, there are four controllers used namely PID controller, Fuzzy Logic controller, Fuzzy-PID controller, and PID-PSO controller to find the best system response for hand applications. Appropriate control schemes should be set with various methods and parameters to enhance the system response to human hand rehabilitation.