Biological Feedback Controller Design for Handwriting Model

Abstract

This paper deals with a feedback controller of PD (proportional, derivative) type applied to the process of handwriting. The considered model for this study describes the behavior of the system "hand and pen" to forearm muscles forces, applied for the production of handwriting. The applied approach considers memory recall of error signal between model outputs and experimental data to reach a desired trajectory position, a rapid dynamic and stable model response. The control technique is applied in order to expand the handwriting model response to a larger database of graphic traces. The obtained results illustrated the reliability of closed loop control to command the handwriting system, and to ensure its robustness against unknown inputs such as muscles forces that could vary from an individual to another and increase model complexity.