A new passivity-based control technique for safe patient-robot interaction in haptics-enabled rehabilitation systems
A new passivity-based control technique for safe patient-robot interaction in haptics-enabled rehabilitation systems
复制标题
一种基于被动的新型控制技术，可在触觉康复系统中实现安全的患者与机器人交互
DOI：
10.1109/iros.2015.7354025
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Rajnikant V. Patel
中科院分区：
文献类型：
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作者：
S. F. Atashzar;Mahya Shahbazi;M. Tavakoli;Rajnikant V. Patel
本文提出了一种新的基于无源性的技术来分析和保证触觉远程机器人康复系统的稳定性，其中存在比通信延迟更多的非无源性来源。在实践中，治疗练习的难度应根据身体残疾的阶段进行调整。然而，调整难度和强度不应破坏患者与机器人交互的稳定性。这通常会对允许的运动强度设定保守的前置限制。本文在强被动性理论(SPT)的背景下研究了患者-机器人交互的安全性。我们的目标是最终放松对允许的机器人治疗的限制，同时保持系统的稳定性。所提出的稳定方案并不试图使整个非无源组件无源。这使得治疗师可以自由地向辅助治疗系统中注入能量，同时确保患者与机器人的安全交互。本文考虑的是遥操作机器人康复的情况。文中给出了实验实现和评估，以支持所提出的理论。
In this paper, a new passivity-based technique is proposed to analyze and guarantee the stability of haptics-enabled telerobotic rehabilitation systems where there is a possibility of having more sources of non-passivity than communication delays. In practice, the difficulty of therapeutic exercises should be tuned taking into account the stage of physical disability. However, tuning the difficulty and intensity should not violate the stability of patient-robot interaction. This usually puts conservative prefixed limits on the allowable exercise intensity. In this paper, patient-robot interaction safety is studied in the context of Strong Passivity Theory (SPT). Our goal is to ultimately relax the limitation on the allowable robotic therapies while preserving system stability. The proposed stabilizing scheme does not try to make the entire non-passive component passive. This allows the therapist to have freedom in injecting energy into the system for assistive therapies while ensuring safe patient-robot interaction. In this paper, the case of telerobotic rehabilitation is considered. Experimental implementation and evaluation are presented to support the proposed theory.
DOI：
10.1682/jrrd.2005.06.0103
发表时间：
2006-08-01
影响因子：
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作者：
Hogan, Neville;Krebs, Hermano I.;Volpe, Bruce T.
通讯作者：
Volpe, Bruce T.