A Small-Gain Approach for Nonpassive Bilateral Telerobotic Rehabilitation: Stability Analysis and Controller Synthesis

Seyed Farokh Atashzar, Ilia G. Polushin, Rajnikant V. Patel

Research output: Contribution to journalArticle

Abstract

In this paper, the design of a novel bilateral telerobotic architecture for rehabilitation purposes is proposed and the related feasibility, stability, and control challenges are studied. The objective is to incorporate the supervision of a local/remote human physiotherapist into haptics-enabled rehabilitation systems and allow the therapist to provide nonpassive nonlinear assistive/resistive forces in response to the patient's movements. This can address a challenge of conventional software-based rehabilitation systems, i.e., limited capability in adjusting the therapy. To guarantee human-robot interaction safety, a new design framework and a stabilizing controller are developed based on the small-gain approach. System stability and transparency are analyzed in the presence of the nonpassive, nonlinear, and nonautonomous behavior of the terminals (the therapist and the patient) and time-varying delays for the case of remote and cloud-based therapy. Several practical considerations have been taken into account to match the clinical needs and minimize the implementation cost. Simulation studies, practical implementation, and experimental evaluations are presented.

Original languageEnglish (US)
Article number7778241
Pages (from-to)49-66
Number of pages18
JournalIEEE Transactions on Robotics
Volume33
Issue number1
DOIs
StatePublished - Feb 2017

Keywords

  • Haptics
  • physical human-robot interaction
  • rehabilitation robotics
  • stability
  • telerobotics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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