A Passivity-Based Approach for Stable Patient-Robot Interaction in Haptics-Enabled Rehabilitation Systems: Modulated Time-Domain Passivity Control

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

Research output: Contribution to journalArticle

Abstract

In this paper, a novel passivity-based technique is proposed to 1) analyze and 2) guarantee the stability of haptics-enabled robotic/telerobotic systems when there is a possibility of having a source of nonpassivity (namely, a nonpassive environment) in addition to the conventional nonpassive component in teleoperation systems (namely, a delayed communication channel). The need for the proposed technique is motivated by safe and optimal implementation of the haptics-enabled robotic, cloud-based, and remote rehabilitation systems. The objective of the controller proposed in this paper is to perform minimum alteration to the system transparency, in a dynamic and patient-specific manner, by utilizing quantifiable biomechanical capability of the user's limb (i.e., excess of passivity) in dissipating interactive energies to guaranteeing human-robot interaction safety, in the context of the strong passivity theorem. The proposed controller is named modulated time-domain passivity control (M-TDPC) approach and is a new member of the family of the state-of-the-art TDPC techniques. Simulations and experimental results are presented in support of the proposed technique and the developed theory.

Original languageEnglish (US)
Article number7546861
Pages (from-to)991-1006
Number of pages16
JournalIEEE Transactions on Control Systems Technology
Volume25
Issue number3
DOIs
StatePublished - May 2017

Keywords

  • Excess of passivity (EOP)
  • haptics-enabled systems
  • patient-robot (P-R) interaction
  • telerobotic rehabilitation
  • time-domain passivity control (TDPC)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'A Passivity-Based Approach for Stable Patient-Robot Interaction in Haptics-Enabled Rehabilitation Systems: Modulated Time-Domain Passivity Control'. Together they form a unique fingerprint.

  • Cite this