title   
  

Slacking prevention during assistive contour following tasks with guaranteed coupled stability

Erdoğan, Ahmetcan and Patoğlu, Volkan (2012) Slacking prevention during assistive contour following tasks with guaranteed coupled stability. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Algarve, Portugal

Full text not available from this repository.

Abstract

Passive velocity field control is advantageous to deliver human-in-the-loop contour tracking rehabilitation exercises, since patients can be allowed to proceed with their preferred pace, while assistance can still be provided as determined by the therapist with ensured coupled stability. We introduce a framework based on passive velocity field control for robot assisted rehabilitation that includes prevention mechanisms against undesired slacking behavior of patients. This framework not only provides systematic approaches to prevent slacking, but also can do so while ensuring coupled stability of the overall robot patient system, a property that cannot be assured with any of the other ad-hoc slacking prevention methods. In particular, the proposed approach enables seamless on-line modification of the task difficulty, speed of contour following, and the level of assistance, while preserving passivity of the system with respect to external forces. The proposed slacking prevention schemes encourage active participation of the patients in rehabilitation protocols with even increased number of repetitions and thanks to flexibility introduced by the controller, render delivery of "repetitive tasks without repeating the same task" possible. Experiments with an haptic interface are included to demonstrate the passivity of the proposed control framework and preliminary human subject experiments with healthy volunteers are presented to validate feasibility and usability of the proposed approaches.

Item Type:Papers in Conference Proceedings
Subjects:UNSPECIFIED
ID Code:20357
Deposited By:Volkan Patoğlu
Deposited On:19 Nov 2012 12:07
Last Modified:28 Feb 2014 15:44

Repository Staff Only: item control page