Cooperative control of virtual objects over the internet using haptic teleoperation

TitleCooperative control of virtual objects over the internet using haptic teleoperation
Publication TypeJournal Article
Year of Publication2005
AuthorsCarignan, C. R., P. A. Olsson, and J. Tang
JournalInternational Journal on Disability and Human Development
Start Page261
Date Published08/2005
Type of ArticleJournal
Other Numbers4824489651
KeywordsBilateral 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

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.

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