A novel path planning and control framework for passive resistance therapy with a robot manipulator
Abbreviated Journal Title
Int. J. Syst. Sci.
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
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.
International Journal of Systems Science
Article; Proceedings Paper
"A novel path planning and control framework for passive resistance therapy with a robot manipulator" (2008). Faculty Bibliography 2000s. 111.