NON-LINEAR CONTROL OF TWO FINGERS MODEL FOR MOVEMENT COORDINATION

Abstract

There are a lot of functions of the hand in our daily life, for example we express our thoughts, explore, and perform ADL’s (active daily living activities). In this study realization of two coordinated fnger modeling, simulation and analysis will be done. We will propose a nonlinear controller to achieve a steady response. This study presents coordinated movement of two fngers for flexion and extension control. Nonlinear controller technique is used for controlling function of two fngers model. The two fngers will be instructed by nonlinear controller to perform flexion along with to perform translation and rotation motion. By flexion and extension we can minimize the problem of nonlinearities such as load, velocity, position, and damping forces etc. The approach will propose many helpful properties such as robust tracking, fnger object slip minimization control and flat force saturation. We will investigate our nonlinear model in MATLAB/Simulink from them and we will get our results accordingly. This study will prove that two fnger modeling approach is a better solution path for enabling smarter and frmer two fngers model interaction.