Networked teleoperation with non-passive environment: Application to tele-rehabilitation

S. Farokh Atashzar, Ilia G. Polushin, Rajni V. Patel

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

Abstract

In master-slave teleoperator systems used for tele-rehabilitation purposes, the passivity can be violated because of the assistive actions of a therapist; moreover, any type of passivation approach to the design of such a system would defeat the purpose of the assistive therapy. In this paper, a design framework is presented that does not rely on passivity considerations. A number of results are given that deal with stability and transparency properties of the tele-rehabilitation system in the case of intrinsically non-passive behaviour of the therapist. In particular, a stabilization scheme for the networked tele-rehabilitation system is proposed which guarantees stability regardless of the specific actions of the therapist. Simulation results are presented which confirm the theoretical developments.

Original languageEnglish (US)
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages5125-5130
Number of pages6
DOIs
StatePublished - 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: Oct 7 2012Oct 12 2012

Publication series

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

Conference

Conference25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period10/7/1210/12/12

ASJC Scopus subject areas

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

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  • Cite this

    Atashzar, S. F., Polushin, I. G., & Patel, R. V. (2012). Networked teleoperation with non-passive environment: Application to tele-rehabilitation. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 5125-5130). [6386152] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6386152