A new passivity-based control technique for safe patient-robot interaction in haptics-enabled rehabilitation systems

S. Farokh Atashzar, Mahya Shahbazi, Mahdi Tavakoli, Rajni V. Patel

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, a new passivity-based technique is proposed to analyze and guarantee the stability of haptics-enabled telerobotic rehabilitation systems where there is a possibility of having more sources of non-passivity than communication delays. In practice, the difficulty of therapeutic exercises should be tuned taking into account the stage of physical disability. However, tuning the difficulty and intensity should not violate the stability of patient-robot interaction. This usually puts conservative prefixed limits on the allowable exercise intensity. In this paper, patient-robot interaction safety is studied in the context of Strong Passivity Theory (SPT). Our goal is to ultimately relax the limitation on the allowable robotic therapies while preserving system stability. The proposed stabilizing scheme does not try to make the entire non-passive component passive. This allows the therapist to have freedom in injecting energy into the system for assistive therapies while ensuring safe patient-robot interaction. In this paper, the case of telerobotic rehabilitation is considered. Experimental implementation and evaluation are presented to support the proposed theory.

Original languageEnglish (US)
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4556-4561
Number of pages6
ISBN (Electronic)9781479999941
DOIs
StatePublished - Dec 11 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: Sep 28 2015Oct 2 2015

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2015-December
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
CountryGermany
CityHamburg
Period9/28/1510/2/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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    Atashzar, S. F., Shahbazi, M., Tavakoli, M., & Patel, R. V. (2015). A new passivity-based control technique for safe patient-robot interaction in haptics-enabled rehabilitation systems. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 4556-4561). [7354025] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7354025