Feedback Linearization Based Predictor for Time Delay Control of High-DOF Robot Manipulator

Older people typically suffer from their hands' jerky motion due to brain malfunctions. Miscommunications between brain signal and hand muscle typically cause the so-called "Actuation Delay". The actuation delay, as expected, results in frequently observed instability not only in grabbing items like glass, etc., but often can cause irregularities in older people walking process. Such a harmful delay needs to be compensated through a robust delay compensator. Dr. Naseradinmousavi and his team, at Dynamic Systems and Control Laboratory (DSCL) of SDSU, designed a reliable time-delay compensator to stabilize the motion of a 7 degrees of freedom robot manipulator, which accurately mimics a human hand. These analytical-experimental robotic and control efforts will eventually provide a pleasant life for people suffering from jerky motions of hands and legs. The DSCL unique effort was published in Automatica: