TY - GEN
T1 - Projection-based force reflection algorithms for teleoperated rehabilitation therapy
AU - Atashzar, S. Farokh
AU - Polushin, Ilia G.
AU - Patel, Rajni V.
PY - 2013
Y1 - 2013
N2 - The problem of designing of a haptics-enabled teleoperated rehabilitation system in the presence of communication delays is addressed. In a teleoperated rehabilitation system, communication delays introduce phase shift which may result in the task inversion phenomenon. To overcome the task inversion, a new type of projection-based force reflection algorithm is proposed which is suitable for assistive/resistive therapy in the presence of irregular communication delays. Additionally, algorithms for augmented therapy are introduced which combine the projection-based force reflection with a delay-free local virtual therapist. A small-gain design is developed which guarantees stability of the proposed schemes for both assistive and resistive modes of the therapy. Simulations and experimental results are presented which confirm the improvement achieved by the proposed methods.
AB - The problem of designing of a haptics-enabled teleoperated rehabilitation system in the presence of communication delays is addressed. In a teleoperated rehabilitation system, communication delays introduce phase shift which may result in the task inversion phenomenon. To overcome the task inversion, a new type of projection-based force reflection algorithm is proposed which is suitable for assistive/resistive therapy in the presence of irregular communication delays. Additionally, algorithms for augmented therapy are introduced which combine the projection-based force reflection with a delay-free local virtual therapist. A small-gain design is developed which guarantees stability of the proposed schemes for both assistive and resistive modes of the therapy. Simulations and experimental results are presented which confirm the improvement achieved by the proposed methods.
UR - http://www.scopus.com/inward/record.url?scp=84893768038&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893768038&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696394
DO - 10.1109/IROS.2013.6696394
M3 - Conference contribution
AN - SCOPUS:84893768038
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 477
EP - 482
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -