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

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

doi:10.1109/IROS.2012.6386152

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

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

Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages	5125-5130
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2012.6386152
State	Published - 2012
Event	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal Duration: Oct 7 2012 → Oct 12 2012

Publication series

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

Conference

Conference	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Country/Territory	Portugal
City	Vilamoura, Algarve
Period	10/7/12 → 10/12/12

ASJC Scopus subject areas

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

Access to Document

10.1109/IROS.2012.6386152

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). Article 6386152 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6386152

Networked teleoperation with non-passive environment: Application to tele-rehabilitation. / Atashzar, S. Farokh; Polushin, Ilia G.; Patel, Rajni V.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. 2012. p. 5125-5130 6386152 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Atashzar, SF, Polushin, IG & Patel, RV 2012, Networked teleoperation with non-passive environment: Application to tele-rehabilitation. in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012., 6386152, IEEE International Conference on Intelligent Robots and Systems, pp. 5125-5130, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 10/7/12. https://doi.org/10.1109/IROS.2012.6386152

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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.",

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

Abstract

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