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.
Local Kinesthetic Guidance Based on Variable-Structure Control Techniques
2010-09-01
629578 byte
Conference paper
Electronic Resource
English
Analysis of Methods for Incremental Policy Refinement by Kinesthetic Guidance
BASE | 2021
|Kinesthetic Control Simulator Patent Application
NTIS | 1970
|KINESTHETIC SENSE PROVISION DEVICE AND KINESTHETIC SENSE PROVISION METHOD
European Patent Office | 2023
|