A Time-Delayed Multi-Master-Single-Slave Non-Linear Tele-Robotic System Through State Convergence

Farooq, Umar; El‐Hawary, Mohamed E.; Asad, Muhammad Usman; Abbas, Ghulam; Luo, Jun

doi:10.1109/access.2017.2782178

Cited by 4 publications

(2 citation statements)

References 39 publications

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“…These systems are composed of two synchronized robotic systems (often called as leader-follower robotic systems, or leader and follower robotic consoles) that communicate over a communication channel (see Avgousti et al (2016) ; Niemeyer et al (2016) ; Farooq et al (2017) ; Evans et al (2018) ; Hooshiar et al (2019) and references therein). An extension of these technologies are multilateral telerobotic systems (see Shahbazi et al (2018) and references therein) which have multiple robots interacting over a multiport network, realizing collaborative tasks by operators or robots or both.…”

Section: Categories Of Robotic Systems For Boosting Care Deliverymentioning

confidence: 99%

Review: How Can Intelligent Robots and Smart Mechatronic Modules Facilitate Remote Assessment, Assistance, and Rehabilitation for Isolated Adults With Neuro-Musculoskeletal Conditions?

2021

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Worldwide, at the time this article was written, there are over 127 million cases of patients with a confirmed link to COVID-19 and about 2.78 million deaths reported. With limited access to vaccine or strong antiviral treatment for the novel coronavirus, actions in terms of prevention and containment of the virus transmission rely mostly on social distancing among susceptible and high-risk populations. Aside from the direct challenges posed by the novel coronavirus pandemic, there are serious and growing secondary consequences caused by the physical distancing and isolation guidelines, among vulnerable populations. Moreover, the healthcare system’s resources and capacity have been focused on addressing the COVID-19 pandemic, causing less urgent care, such as physical neurorehabilitation and assessment, to be paused, canceled, or delayed. Overall, this has left elderly adults, in particular those with neuromusculoskeletal (NMSK) conditions, without the required service support. However, in many cases, such as stroke, the available time window of recovery through rehabilitation is limited since neural plasticity decays quickly with time. Given that future waves of the outbreak are expected in the coming months worldwide, it is important to discuss the possibility of using available technologies to address this issue, as societies have a duty to protect the most vulnerable populations. In this perspective review article, we argue that intelligent robotics and wearable technologies can help with remote delivery of assessment, assistance, and rehabilitation services while physical distancing and isolation measures are in place to curtail the spread of the virus. By supporting patients and medical professionals during this pandemic, robots, and smart digital mechatronic systems can reduce the non-COVID-19 burden on healthcare systems. Digital health and cloud telehealth solutions that can complement remote delivery of assessment and physical rehabilitation services will be the subject of discussion in this article due to their potential in enabling more effective and safer NMSDK rehabilitation, assistance, and assessment service delivery. This article will hopefully lead to an interdisciplinary dialogue between the medical and engineering sectors, stake holders, and policy makers for a better delivery of care for those with NMSK conditions during a global health crisis including future pandemics.

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Section: Categories Of Robotic Systems For Boosting Care Deliverymentioning

confidence: 99%

Review: How Can Intelligent Robots and Smart Mechatronic Modules Facilitate Remote Assessment, Assistance, and Rehabilitation for Isolated Adults With Neuro-Musculoskeletal Conditions?

2021

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“…Due to remote communication between robot sensors and control platforms, time delays are inevitable in measurement channels of a robotic system [10][11][12]. As such, real-time information of robot manipulator cannot arrive at the cloud platform on time, which may break down the operational capability or even destabilize the robotic system [13][14][15]. Thus, time delays in measurement channels are a non-negligible issue [16,17], and several approaches have been proposed to deal with the delayed measurements [18].…”

Section: Introductionmentioning

confidence: 99%

Predictor-Based Motion Tracking Control for Cloud Robotic Systems with Delayed Measurements

Shen

Song

2019

Electronics

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This paper addresses the problem of motion prediction and tracking control for cloud robotic systems with time-varying delays in measurements. A novel method using an observer-based structure for position and velocity prediction is developed to estimate the real-time information of robot manipulator. The prediction error can converge to zero even if model uncertainties exist in the robot manipulator. Based on the predicted positions and velocities, some sufficient conditions are derived to design suitable tracking controllers such that semi-globally uniformly ultimately bounded tracking performance of the predictor–controller couple can be guaranteed. Finally, the effectiveness and robustness to model uncertainties of the proposed method are verified by a two degree-of-freedom (DOF) robot system.

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Implementation of Human Gestures in the Control of Collaborative Robots

Ciudin,

Goia,

Popișter

2024

Lecture Notes in Mechanical Engineering

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A Time-Delayed Multi-Master-Single-Slave Non-Linear Tele-Robotic System Through State Convergence

Cited by 4 publications

References 39 publications

Review: How Can Intelligent Robots and Smart Mechatronic Modules Facilitate Remote Assessment, Assistance, and Rehabilitation for Isolated Adults With Neuro-Musculoskeletal Conditions?

Review: How Can Intelligent Robots and Smart Mechatronic Modules Facilitate Remote Assessment, Assistance, and Rehabilitation for Isolated Adults With Neuro-Musculoskeletal Conditions?

Predictor-Based Motion Tracking Control for Cloud Robotic Systems with Delayed Measurements

Implementation of Human Gestures in the Control of Collaborative Robots

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