Bilateral Tele-Rehabilitation System using Electrical Stimulation applying Modulated Time-Domain Passivity Control

Time Domain Passivity Control of Time Delayed Bilateral Telerobotics with Prescribed Performance

WB1-2 Bilateral Control with Time Domain Passivity Approach Under Time-varying Communication Delay

Recently, two-port time-domain passivity approach was modified for time-varying communication delay. The newly proposed approach could achieve stable teleoperation even under the serious time-varying delay and packet loss communication condition. However, after some operation hour, the accumulated energy difference between the input energy from one port and the output energy at the other port c...

Stabilization of Delayed Teleoperation Using Predictive Time-domain Passivity Control

ABSTRACT Stability is an important issue in bilateral teleoperation due to different factors like varying operating conditions, existence of time-delays, etc. Recently, time-domain passivity control (see [1]) has been proposed to stabilize unstable telerobotic systems and has shown good performance in situations where one or more components of the system behave actively. However, this scheme re...

Time-domain passivity control of haptic interfaces

A patent pending, energy based, method is presented for controlling a haptic interface system to ensure stable contact under a wide variety of operating conditions. System stability is analyzed in terms of the time domain definition of passivity. We define a "Passivity Observer" (PO) which measures energy flow in and out of one or more subsystems in real-time software. Active behavior is indica...

A Tele-Cognitive Rehabilitation System Using LabVIEW

Brain injury is one of the main causes of long-term disability, and its rehabilitation is a challenge to healthcare teams. This study developed a tele-rehabilitation system for the cognitive rehabilitation of persons with brain injury using LabVIEW, a high-level graphical programming environment. The system offers several cognitive rehabilitation exercises and allows patients’ personal and clin...