Master-Slave System with Teleoperation for Rehabilitation
| Authors: | Duong Minh Duc, Toyohashi University of Technology, Japan
Teraoka Chisato, Toyohashi University of Technology, Japan
Imamura Takashi, Toyohashi University of Technology, Japan
Miyoshi Takanori, Toyohashi University of Technology, Japan
Terashima Kazuhiko, Toyohashi University of Technology, Japan |
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| Topic: | 4.5 Human Machine Systems |
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| Session: | Applications for Human-Machine Systems |
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| Keywords: | Master-slave systems, Teleoperation, Time delay, Lyapunov stability, Pulse width modulation |
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Abstract
In this paper, a master-slave robot system with haptic feedback, human sensing and teleoperation for rehabilitation of upper limb function is presented. The physician could adjust on-line the exercise based on the EMG signal of the patient and force feedback. Moreover, in the present teleoperating system, it is shown that the stability is guaranteed due to the passivity of the master arm's mechanism, in spite of the communication time delay.
