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Cooperative control of virtual objects over the internet using force-reflecting master arms
KTH, School of Electrical Engineering (EES). Imaging Sci./Info. Systems Center, Department of Radiology, Georgetown University, United States .
2004 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, 2004, no 2, 1221-1226 p.Conference paper, Published paper (Refereed)
Abstract [en]

Force-reflecting master arms are explored for use as haptic displays in physical therapy interventions over the internet. Rehabilitation tasks can be constructed in which both the patient and therapist can interact with a common object from distant locations. Each haptic master exerts "forces" on a virtual object which, in response, generates desired velocities for the master arm to track. A novel cooperative control architecture based on wave variables is implemented to counter the destabilizing effect of internet time-delay. The control scheme is validated experimentally using a pair of InMotion2 robots in a virtual beam manipulation task between remote sites.

Place, publisher, year, edition, pages
2004. no 2, 1221-1226 p.
Series
Proceedings - IEEE International Conference on Robotics and Automation, ISSN 1050-4729 ; 2004
Keyword [en]
Cooperative control, Force reflection, Master arms, Virtual objects, Imaging techniques, Internet, Manipulators, Motion planning, Physical therapy, Project management, Robots
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-157432Scopus ID: 2-s2.0-3042576052OAI: oai:DiVA.org:kth-157432DiVA: diva2:771190
Conference
Proceedings- 2004 IEEE International Conference on Robotics and Automation, 26 April 2004 through 1 May 2004, New Orleans, LA
Note

QC 20141212

Available from: 2014-12-12 Created: 2014-12-09 Last updated: 2014-12-12Bibliographically approved

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