Title

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

Authors

Authors

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

Comments

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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

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