Title
A Novel Path Planning And Control Framework For Passive Resistance Therapy With A Robot Manipulator
Keywords
Continuous controller; Human robot interaction; Lyapunov-based design; Passivity; Path planning; Robust control
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.
Publication Date
6-1-2008
Publication Title
International Journal of Systems Science
Volume
39
Issue
6
Number of Pages
639-653
Document Type
Article
Personal Identifier
scopus
DOI Link
https://doi.org/10.1080/00207720701860037
Copyright Status
Unknown
Socpus ID
42149102693 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/42149102693
STARS Citation
Behal, A.; Chen, J.; and Dawson, D. M., "A Novel Path Planning And Control Framework For Passive Resistance Therapy With A Robot Manipulator" (2008). Scopus Export 2000s. 10119.
https://stars.library.ucf.edu/scopus2000/10119