Assessment of the level of unwanted loads in the RRG-100 pneumatic trainer using simulation modeling in MATLAB
DOI:
https://doi.org/10.31649/1681-7893-2026-51-1-227-234Keywords:
Pneumatic trainer RRG 100, unwanted loads, MATLAB, simulation modeling, hand rehabilitation, soft robotics, pneumatic actuator, incoherenceAbstract
The paper presents an approach to assessing the level of undesirable loads in the RRG-100 pneumatic simulator using simulation modeling in MATLAB by solving a direct kinematics problem. An interactive interface has been developed that allows entering user anthropometric data; simulating bending angles in the joints. The finger geometries and the trajectory of the tip of the phalanx have been constructed using low-level graphics functions. It has been determined that the misalignment of the anatomical and mechanical axes of the device leads to the occurrence of undesirable loads. The proposed approach provides a basis for further development of individual adjustment systems for pneumatic simulators of the RRG-100 type. It is planned to create an experimental circuit using resistive bending sensors mounted on the phalanges of the finger, which will allow experimental measurement of bending angles and assessment of the adequacy of the developed model.
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