Premilitary Performance Evaluation of Model-mediated Telerehabilitation System with Task Stiffness Estimation

Ziyi Yang1; Shuxiang Guo2,3

10.1109/ICMA57826.2023.10216104

2023

Proceedings of 2023 IEEE International Conference on Mechatronics and Automation

2152-7431

979-8-3503-2085-5

2023 IEEE International Conference on Mechatronics and Automation (ICMA)

467-472

6-9 Aug. 2023

Harbin, Heilongjiang, China

For the telerehabilitation robotic system, the stable and transparent remote therapist-patient interaction under the internet communication latency remains an open challenge. In this paper, we proposed a model-mediated telerehabilitation system to avoid the delayed force feedback on the therapist side. Moreover, a variable stiffness robot is employed in the proposed telerehabilitation system to improve the patient-robot interaction on the slave side. On the slave side, a performance-based variable stiffness interactive assistance control law was utilized and the task stiffness estimation method is designed for master-side interaction model updating. On the master side, the master subsystem was implemented by a haptic device with visual and force feedback. The overall telerehabilitation was realized by the TCP/IP internet communication method. From the premilitary experimental results, the therapist subject could conduct the therapy with the aid of visual and force feedback, and the patient subject could complete the training task with their active efforts.

Telerehabilitation Model-mediated Teleoperation Variable Stiffness Variable Stiffness Actuator (VSA) And Physical Human Robot Interaction (PHRI)

通讯

英语

EI

20233714732615

Feedback ; Human robot interaction ; Patient treatment ; Visual communication

Medicine and Pharmacology:461.6 ; Optical Communication Systems:717.1 ; Control Systems:731.1 ; Robotics:731.5 ; Materials Science:951

IEEE

1.Graduate School of Engineering, Kagawa University Hayashi-cho, Takamatsu, Japan
2.The Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, Guangdong, China
3.Beijing Institute of Technology

Ziyi Yang,Shuxiang Guo. Premilitary Performance Evaluation of Model-mediated Telerehabilitation System with Task Stiffness Estimation[C],2023:467-472.