الفهرس 
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Abstract
Study design: Actuator is designed in a unique way, they relied on deflated balloon chambers as a path of compressed air and are tested under different operating conditions.
Introduction: The success of hand rehabilitation after muscle dystrophy depends on movement exercises that target the place of disability and repeat them periodically, which requires a lot of time as it directly depends on the quality and strength of the treating physician. Rehabilitation using soft robots is discovered, through a scientific approach determined by the medical team specialized in every case, which helps the patient to perform the exercises more accurately and faster and helps to learn to what extent the movement of the joints have improved.
Study purpose: The purpose of the study is design, develop, monitor, and control a soft robotic actuator.
Methods: Webcam system is used to verify the real bending angle of the actuator installed on the finger. A follow-up system is developed for the soft robot during work by fixing sensors to know the status of the robot movements. The doctor monitors the patient’s condition, and the exoskeleton movements are monitored to check the improvement can which based on a high level of accuracy, fast response and ability to hold weights, and all of that required accurate control system which is work on it by using cascaded control techniques and different optimization to get the PID controller parameters.
PID tuning parameters have been found by using different techniques, such as: 1- Ziegler Nicolas technique. 2- Genetic Algorism Technique.
3- Particle Swarm Optimization Technique.
Results: Soft robots can move their fingers with the necessary range of motion to align their axis of rotation with the axis of the human hand. To achieve the best efficiency in inpatient rehabilitation.