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In this paper, the problem of trilateral interaction between therapist, patient, and virtual environment is considered. Herein, a new architecture for robotic rehabilitation is investigated based on the robots together with patient and therapist, cooperating with each other to accomplish the therapy in the virtual reality, in which the rehabilitation system is divided into three subsystems: patient,...
In this paper a new architecture for robotic rehabilitation is introduced. The mutual interaction between the therapist and patient is accomplished with robots. The architecture divides the system into three subsystems: therapist, patient, and virtual environment, which is controlled locally ensuring that it is input to state stable (ISS). Finally, the interconnection of these subsystems are shown...
In this paper, the problem of a bilateral teleoperation system in contact with active environment is considered. The human operator is assumed to be nonpassive, and the network is subject to unsymmetrical constant time delay. Two new nonlinear terms are added to the common PD control strategy in order to deal with the active impedance appeared in the closed loop system. The master/slave robots are...
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