Projection-based force reflection algorithms for teleoperated rehabilitation therapy

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

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

Abstract

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.

Original languageEnglish (US)
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages477-482
Number of pages6
DOIs
StatePublished - 2013
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: Nov 3 2013Nov 8 2013

Publication series

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

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period11/3/1311/8/13

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. (2013). Projection-based force reflection algorithms for teleoperated rehabilitation therapy. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 477-482). [6696394] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6696394