Robust Generalized Proportional Integral Control for Trajectory Tracking of Soft Actuators in a Pediatric Wearable Assistive Device
Caio Mucchiani,Zhichao Liu,Ipsita Sahin,Elena Kokkoni,Konstantinos Karydis,Caio Mucchiani,Zhichao Liu,Ipsita Sahin,Elena Kokkoni,Konstantinos Karydis
Soft robotics hold promise in the development of safe yet powered assistive wearable devices for infants. Key to this is the development of closed-loop controllers that can help regulate pneumatic pressure in the device's actuators in an effort to induce controlled motion at the user's limbs and be able to track different types of trajectories. This work develops a controller for soft pneumatic ac...
