Open AccessA multi-lateral rehabilitation system
Author(s) -
Aykut C. Satici,
Ahmetcan Erdoğan,
Volkan Patoğlu
Publication year - 2011
Publication title -
turkish journal of electrical engineering and computer sciences/elektrik
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.225
H-Index - 30
eISSN - 1303-6203
pISSN - 1300-0632
DOI - 10.3906/elk-1007-585
Subject(s) - teleoperation , rehabilitation , dominance (genetics) , computer science , task (project management) , human–computer interaction , robot , dual (grammatical number) , controller (irrigation) , control (management) , physical medicine and rehabilitation , simulation , control engineering , engineering , artificial intelligence , medicine , physical therapy , agronomy , biochemistry , chemistry , literature , systems engineering , biology , gene , art
This paper proposes a multi-lateral shared control concept for robot assisted rehabilitation. In particular, a dual-user force-feedback teleoperation control architecture is implemented on a forearm-wrist rehabilitation system consisting of two kinematically dissimilar robotic devices. The multi-lateral rehabilitation system allows for patients to train with on-line virtual dynamic tasks in collaboration with a therapist. Dierent control authority can be assigned to each agent so that therapists can guide or evaluate movements of patients, or share the control with them. The collaboration is implemented using a dual-user force-feedback teleoperation control architecture, in which a dominance factor determines the authority of each agent in commanding the virtual task. The eectiveness of the controller and regulation of the dominance for each agent is experimentally veried