Networked teleoperation with non-passive environment: Application to tele-rehabilitation

S. F. Atashzar, I. Polushin, Rajnikant V. Patel
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引用次数: 48

Abstract

In master-slave teleoperator systems used for tele-rehabilitation purposes, the passivity can be violated because of the assistive actions of a therapist; moreover, any type of passivation approach to the design of such a system would defeat the purpose of the assistive therapy. In this paper, a design framework is presented that does not rely on passivity considerations. A number of results are given that deal with stability and transparency properties of the tele-rehabilitation system in the case of intrinsically non-passive behaviour of the therapist. In particular, a stabilization scheme for the networked tele-rehabilitation system is proposed which guarantees stability regardless of the specific actions of the therapist. Simulation results are presented which confirm the theoretical developments.
非被动环境的网络化遥操作:在远程康复中的应用
在用于远程康复目的的主从远程操作系统中,由于治疗师的辅助行为,可能会违反被动性;此外,设计这样一个系统的任何类型的钝化方法都会破坏辅助治疗的目的。在本文中,提出了一个不依赖于被动考虑的设计框架。在治疗师本质上非被动行为的情况下,给出了一些结果,处理远程康复系统的稳定性和透明性。特别地,提出了一种网络远程康复系统的稳定方案,无论治疗师的具体行为如何,都能保证系统的稳定性。仿真结果证实了理论的发展。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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