A multi-lateral rehabilitation system

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Official URL: http://dx.doi.org/10.3906/elk-1007-585

This paper proposes a multi-lateral shared control concept for robot assisted rehabilitation. In particular, a dual-user force-feedback teleoperation control architecture is implemented on a forearm-wrist rehabilitation system consisting of two kinematically dissimilar robotic devices. The multi-lateral rehabilitation system allows for patients to train with on-line virtual dynamic tasks in collaboration with a therapist. Dierent control authority can be assigned to each agent so that therapists can guide or evaluate movements of patients, or share the control with them. The collaboration is implemented using a dual-user force-feedback teleoperation control architecture, in which a dominance factor determines the authority of each agent in commanding the virtual task. The eectiveness of the controller and regulation of the dominance for each agent is experimentally veried.