In this paper, a nonlinear passivity-based control strategy based on stability in the sense of Lyapunov (Second method) and sliding mode control applied to Euler-Lagrange systems (robot arms) and extended to the PHANToM Premium 1.0 haptic device for purposes of local haptic guidance rehabilitation and medical diagnosis in people who have some motor impairment (on upper limb) is designed and implemented.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Local Kinesthetic Guidance Based on Variable-Structure Control Techniques




    Publication date :

    2010-09-01


    Size :

    629578 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Kinesthetic Guidance Based on PID Control for Haptic Interaction

    Vega-Hernández, David / García-Valdovinos, Luis G / Domínguez-Ramírez, Omar A et al. | IEEE | 2010


    Analysis of Methods for Incremental Policy Refinement by Kinesthetic Guidance

    Simonič, Mihael / Petrič, Tadej / Ude, Aleš et al. | BASE | 2021

    Free access

    Kinesthetic Control Simulator Patent Application

    P. R. Hill / D. F. Thomas | NTIS | 1970


    KINESTHETIC SENSE PROVISION DEVICE AND KINESTHETIC SENSE PROVISION METHOD

    HORIE ARATA / INAMI MASAHIKO | European Patent Office | 2023

    Free access

    Kinesthetic water park

    VASSEL EUGENE B | European Patent Office | 2021

    Free access