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Permanent link (DOI): https://doi.org/10.7939/R3QJ7862H

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Haptic Teleoperation Based Rehabilitation Systems for Task-Oriented Therapy Open Access

Descriptions

Other title
Subject/Keyword
Teleoperation System Stability Analysis
Haptics
Telerehabilitation
Impedance Control
Teleoperation
Arm Model Identification
Type of item
Thesis
Degree grantor
University of Alberta
Author or creator
TAO, Ran
Supervisor and department
Tavakoli, Mahdi (Electrical and Computer Engineering)
Examining committee member and department
Lynch, Allan (Electrical and Computer Engineering)
Lipsett, Michael (Mechanical Engineering)
Department
Department of Electrical and Computer Engineering
Specialization
Control Systems
Date accepted
2014-12-04T13:10:18Z
Graduation date
2015-06
Degree
Master of Science
Degree level
Master's
Abstract
This thesis focuses on the analysis and implementation of haptic teleoperation systems for home-based remote rehabilitation therapies. The main objective is to link the hand of a hospital-based therapist to the hand of a home-based disabled patient haptically, in order to simulate conventional in-hospital therapies. A new telerehabilitation paradigm involving telerobotic systems is proposed. The proposed ``Learn-and-replay" paradigm for task-oriented therapy consists of two phases: a therapist-in-loop phase where the therapist interacts with the patient through the haptic telerobotic interface to perform one or more repetitions of a cooperative therapy task, and a therapist-out-of-loop phase where the therapist's cooperative role in the task is played by the patient-side robot in future repetitions. Various technical aspects of this paradigm are explored in this thesis, including the therapist's arm impedance estimation and emulation through impedance control. One degree-of-freedom and a two degree-of-freedom advanced cooperative manipulation tasks are tested for proof of concept. Traditionally, human arm passivity is assumed for teleoperation system stability analysis. Recent research has shown that such an assumption can be inaccurate or too conservative. Especially, human arm can demonstrate active behaviour during telerehabilitation scenarios. A series-shunt approach is proposed to take into account some a priori information about the activity or excessive passivity of the human operator in order to derive more exact stability criteria. Both theoretical derivation and experimental validation are carried out in this work.
Language
English
DOI
doi:10.7939/R3QJ7862H
Rights
This thesis is made available by the University of Alberta Libraries with permission of the copyright owner solely for the purpose of private, scholarly or scientific research. This thesis, or any portion thereof, may not otherwise be copied or reproduced without the written consent of the copyright owner, except to the extent permitted by Canadian copyright law.
Citation for previous publication
Ran Tao, Mahdi Tavakoli, Multilateral Haptic System Stability Analysis: The Effect of Activity or Passivity of Terminations via a Series-Shunt Approach, IEEE Haptics Symposium, Houston, TX, 2014.

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