Resumen
Study: Soft robots can achieve the desired range of motion for finger movement to match their axis of rotation with the axis of rotation of the human hand. The iterative design has been used to achieve data that makes the movement smooth and the range of movement wider, and the validity of the design has been confirmed through practical experiments. Limitation: The challenges facing this research are to reach the most significant inclined angle and increase the force generated by the actuator, which is the most complicated matter while maintaining the desired control accuracy. The motion capture system verifies the actual movement of the soft pneumatic actuator (SPA). A tracking system has been developed for SPA in action by having sensors to know the position and strength of the SPA. Results: The novelty of this research is that it gave better control of soft robots by selecting the proportional, integral, and derivative (PID) controller. The parameters were tuned using three different methods: ZN (Ziegler Nichols Method), GA (Genetic Algorism), and PSO (Particle Swarm Optimization). The optimization techniques were used in Methods 2 and 3 in order to reach the nominal error rate (0.6) and minimum overshoot (0.1%) in the shortest time (2.5 s). Impact: The effect of the proposed system in this study is to provide precise control of the actuator, which helps in medical and industrial applications, the most important of which are the transfer of things from one place to another and the process of medical rehabilitation for patients with muscular dystrophy. A doctor who treats finger muscle insufficiency can monitor a patient?s ability to reach a greater angle of flexion or increase strength by developing three treatment modalities to boost strength: Full Assisted Movement (FAM), Half Assisted Movement (HAM), and Resistance Movement (RM).