Title :
Teleoperation with haptic feedback by means of electromagnetic brake and deadband control for rehabilitation
Author :
Duong, Minh Duc ; Terashima, Kazuhiko ; Imamura, Takashi
Author_Institution :
Dept. of Production Syst. Eng., Toyohashi Univ. of Technol.
Abstract :
In this paper, teleoperation of a master-slave robot system with haptic feedback and network traffic reduction for rehabilitation are presented. At first, the stability of the teleoperation system with haptic feedback via time delay communication environment is mathematically shown for multi-joint robot arm system. Experiments show that the system is stable, despite of time delay. In order to reduce packet transfer rate for transmission of data, deadband control approach is used. A new data reconstruction algorithm is proposed to improve system´s performance for telerehabilitation while keeping the stability of the system. The validity of the approach is shown in simulations
Keywords :
feedback; medical robotics; stability; telemedicine; telerobotics; electromagnetic brake control; electromagnetic deadband control; haptic feedback; master-slave robot; multijoint robot arm system; network traffic reduction; stability; teleoperation; telerehabilitation; time delay communication; Communication system control; Communication system traffic control; Delay effects; Feedback; Haptic interfaces; Master-slave; Reconstruction algorithms; Rehabilitation robotics; Stability; System performance;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4776835
