Cooperative control of virtual objects over the internet using haptic teleoperation
2005 (English)In: Journal of Endocrine Genetics, ISSN 1565-012X, Vol. 4, no 4, 261-267 p.Article in journal (Refereed) Published
The feasibility of performing remote assessment and therapy of patients over the internet using robotic devices is explored. Using a force feedback device, the therapist can assess the range of motion, flexibility, strength, and spasticity of the patient's arm grasping a similar robotic device at a remote location. In addition, cooperative rehabilitation strategies can be developed whereby both the patient and therapist perform tasks in a shared virtual environment To counter the destabilizing effects of time delay in the force feedback loop, a passive wave variable architecture is used to encode velocity and force information. The control scheme is validated experimentally over the internet using a pair of InMotion2 robots located several hundred miles apart.
Place, publisher, year, edition, pages
2005. Vol. 4, no 4, 261-267 p.
Bilateral control, Cooperative control, Force-feedback, Haptic interface, Rehabilitation, Robotics, Time-delay, Virtual environment, conference paper, feedback system, human, Internet, muscle strength, range of motion, rehabilitation care, spasticity, stroke, tactile stimulation, teleconsultation, telehealth, teletherapy, virtual reality
Clinical Medicine Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-157106ScopusID: 2-s2.0-33751229889OAI: oai:DiVA.org:kth-157106DiVA: diva2:771029
QC 201412122014-12-122014-12-052014-12-12Bibliographically approved