A novel path planning and control framework for passive resistance therapy with a robot manipulator

    Authors

    A. Behal; J. Chen;D. M. Dawson

    Comments

    Authors: contact us about adding a copy of your work at STARS@ucf.edu

    Abbreviated Journal Title

    Int. J. Syst. Sci.

    Keywords

    human robot interaction; passivity; Lyapunov-based design; path; planning; robust control; continuous controller; SMART EXERCISE MACHINES; BILATERAL CONTROL; TELEOPERATORS; FORMULATION; DESIGN; Automation & Control Systems; Computer Science, Theory & Methods; Operations Research & Management Science

    Abstract

    In this article, we present a paradigm for safe path generation and control for a robotic manipulator such that it provides programmable passive resistance therapy to patients with deficits in the upper extremities. When the patient applies an interaction force at the robot's end-effector, a dynamic path generator time parameterises any therapist-specified contour in the robot's workspace-thus, the robot mimics the dynamics of a passive impedance whose anisotropy vector can be continuously reconfigured. The proposed algorithm is easily implementable because it is robust to uncertainty in the robot dynamics. Moreover, the proposed strategy also guarantees user safety by maintaining the net flow of energy during the human robot interaction from the user towards the manipulator.

    Journal Title

    International Journal of Systems Science

    Volume

    39

    Issue/Number

    6

    Publication Date

    1-1-2008

    Document Type

    Article; Proceedings Paper

    Language

    English

    First Page

    639

    Last Page

    653

    WOS Identifier

    WOS:000254949400006

    ISSN

    0020-7721

    Share

    COinS