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

Socpus ID

42149102693 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/42149102693

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