<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>2007-7858</journal-id>
<journal-title><![CDATA[CienciaUAT]]></journal-title>
<abbrev-journal-title><![CDATA[CienciaUAT]]></abbrev-journal-title>
<issn>2007-7858</issn>
<publisher>
<publisher-name><![CDATA[Universidad Autónoma de Tamaulipas]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S2007-78582025000100189</article-id>
<article-id pub-id-type="doi">10.29059/cienciauat.v19i2.1895</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Evaluación de desempeño de controladores para un sistema de dedo biónico]]></article-title>
<article-title xml:lang="en"><![CDATA[Performance Evaluation of Controllers for a Bionic Finger System]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Sánchez-Garnica]]></surname>
<given-names><![CDATA[Erick Javier]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Rodríguez-Guerrero]]></surname>
<given-names><![CDATA[Liliam]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Ortega-Palacios]]></surname>
<given-names><![CDATA[Rocío]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Santos-Sánchez]]></surname>
<given-names><![CDATA[Omar Jacobo]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad Autónoma del Estado de Hidalgo Instituto de Ciencias Básicas e Ingeniería Área académica de computación y electrónica]]></institution>
<addr-line><![CDATA[Mineral de la Reforma Hidalgo]]></addr-line>
<country>Mexico</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Universidad Politécnica de Pachuca  ]]></institution>
<addr-line><![CDATA[Zempoala Hidalgo]]></addr-line>
<country>Mexico</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>06</month>
<year>2025</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>06</month>
<year>2025</year>
</pub-date>
<volume>19</volume>
<numero>2</numero>
<fpage>189</fpage>
<lpage>202</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_arttext&amp;pid=S2007-78582025000100189&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_abstract&amp;pid=S2007-78582025000100189&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_pdf&amp;pid=S2007-78582025000100189&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen Los avances tecnológicos han permitido el desarrollo de dispositivos para suplir la pérdida de un miembro del cuerpo, sin embargo, su costo actual todavía los hace inaccesibles para personas de escasos recursos y, en muchos casos, incluso con ingresos moderados. Existe un amplio desarrollo tanto científico, como aficionado, de dedos biónicos, pero es común que no se considere alguna técnica de control para manipularlos. El objetivo del presente estudio fue evaluar el desempeño de cuatro tipos de controladores de lazo cerrado, en el funcionamiento estable de un dedo biónico. Se trabajó con los controladores proporcional más compensación, proporcional óptimo más compensación, proporcional integral por asignación de polos y proporcional integral por Ziegler-Nichols, en un dedo biónico adaptado específicamente para su estudio. Se utilizó la teoría de control para determinar cuál controlador mostraba un mejor efecto en el sobreimpulso y las oscilaciones del dedo biónico. El controlador de tipo proporcional más compensación presentó el mejor desempeño afectando menos el sobreimpulso y las oscilaciones en la señal de control, demostrando su viabilidad para ser utilizado en dispositivos biónicos para su posible incorporación en una prótesis de mano, destinada a ayudar a las personas amputadas a recuperar parte de sus capacidades disminuidas.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract Technological advances have enabled the development of devices to compensate for the loss of a limb; however, their current cost still makes them inaccessible for people with limited resources and, in many cases, even for those with moderate incomes. There is extensive development, both scientific and amateur, of bionic fingers, but it is common for control techniques to be overlooked in their manipulation. The objective of this study was to evaluate the performance of four types of closed-loop controllers in the stable operation of a bionic finger. The controllers used were proportional plus compensation, optimal proportional plus compensation, proportional-integral with pole placement, and proportional-integral with Ziegler-Nichols tuning, in a bionic finger specifically adapted for this study. Control theory was applied to determine which controller had a better effect on overshoot and oscillations in the bionic finger. The proportional plus compensation controller showed the best performance, with less impact on overshoot and control signal oscillations, demonstrating its viability for use in bionic devices and its potential incorporation into a hand prosthesis to help amputees regain part of their diminished capabilities.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[dedo biónico]]></kwd>
<kwd lng="es"><![CDATA[control óptimo]]></kwd>
<kwd lng="es"><![CDATA[control proporcional]]></kwd>
<kwd lng="en"><![CDATA[bionic finger]]></kwd>
<kwd lng="en"><![CDATA[optimal control]]></kwd>
<kwd lng="en"><![CDATA[proportional control]]></kwd>
</kwd-group>
</article-meta>
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