Title | Cooperative control of virtual objects over the internet using haptic teleoperation |
Publication Type | Journal Article |
Year of Publication | 2005 |
Authors | Carignan, C. R., P. A. Olsson, and J. Tang |
Journal | International Journal on Disability and Human Development |
Volume | 4 |
Start Page | 261 |
Pagination | 261–267 |
Date Published | 08/2005 |
Type of Article | Journal |
ISSN | 1565-012X |
Other Numbers | 4824489651 |
Keywords | Bilateral control, conference paper, Cooperative control, feedback system, Force-feedback, Haptic interface, human, Internet, muscle strength, range of motion, Rehabilitation, rehabilitation care, robotics, spasticity, stroke, tactile stimulation, teleconsultation, telehealth, teletherapy, Time-delay, Virtual environment, virtual reality |
Abstract | 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. |
URL | http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-157106 |
DOI | 10.1515/IJDHD.2005.4.4.261 |
Citation Key | 95 |