“…It is clear that by adopting more complex control strategy, e.g. utilizing a proportional–integral–derivative controller instead of using a single gain or employing more different sensors and adding the feed-forward signal control previously used in Karbasizadeh et al., 29 and tuning the parameters with the proposed method, one can obtain more satisfactory results. Figure 3.Block diagram of the impedance controller.…”
Section: Preliminary Definitionsmentioning
confidence: 99%
“…In Karbasizadeh et al., 28,29 the least square method was employed to identify the corresponding unknown dynamic parameters of Novint Falcon. Predicated on the reported results, the identified parameters are …”
This paper aims at designing an oscillationless open-loop impedance controller for a well-known low-cost haptic device, namely the Novint Falcon haptic device. In this regard, the oscillation number index standing for the ratio of the traversed path in the corresponding phase portrait systems for a certain state to its radial value is employed to evaluate the oscillatory behavior of the system. Based on the identified parameters of the dynamic equation, a precise model of the intended robot is developed in the SimMechanics simulator. According to the obtained results in the simulation, one can infer that there is a certain impedance value in which the value of the oscillation number index has its minimum value. The obtained experimental results reveal that the oscillation number index based controller possesses lower oscillation in comparison to the Falcon’s official software development kit. In fact, by tuning the system’s impedance will result in a better performance for the haptic purposes.
“…It is clear that by adopting more complex control strategy, e.g. utilizing a proportional–integral–derivative controller instead of using a single gain or employing more different sensors and adding the feed-forward signal control previously used in Karbasizadeh et al., 29 and tuning the parameters with the proposed method, one can obtain more satisfactory results. Figure 3.Block diagram of the impedance controller.…”
Section: Preliminary Definitionsmentioning
confidence: 99%
“…In Karbasizadeh et al., 28,29 the least square method was employed to identify the corresponding unknown dynamic parameters of Novint Falcon. Predicated on the reported results, the identified parameters are …”
This paper aims at designing an oscillationless open-loop impedance controller for a well-known low-cost haptic device, namely the Novint Falcon haptic device. In this regard, the oscillation number index standing for the ratio of the traversed path in the corresponding phase portrait systems for a certain state to its radial value is employed to evaluate the oscillatory behavior of the system. Based on the identified parameters of the dynamic equation, a precise model of the intended robot is developed in the SimMechanics simulator. According to the obtained results in the simulation, one can infer that there is a certain impedance value in which the value of the oscillation number index has its minimum value. The obtained experimental results reveal that the oscillation number index based controller possesses lower oscillation in comparison to the Falcon’s official software development kit. In fact, by tuning the system’s impedance will result in a better performance for the haptic purposes.
“…In the paper, a Novint Falcon is used, which has a kinematics model described in ref. [20], and this model can be represented in the task space as follows:…”
Section: Models Of Master and Virtual Slavementioning
SUMMARY
This paper proposes a shared control scheme which aims to achieve a stable control of the speed and turn of a bipedal robot during a delayed bilateral teleoperation. The strategy allows to get a delay-dependent damping value that must be injected to assure a bounded response of the hybrid system, while simultaneously, the human operator receives a force feedback that help him to decrease the synchronism error. Furthermore, a test where a human operator handles the walking of a simulated bipedal robot, to follow a curve path in front of varying time delay, is performed and analyzed.
“…Appendix: Experimentation Setup All the experiments performed in this article have been implemented by the hardware and software described in this subsection. The experiments were implemented with capability of handling six non-homogeneous manipulators consisting of a dual set of Novint Falcon® (Karbasizadeh et al, 2018 ), one Phantom Omni®, Two Phantom Premium® robots (Taati et al, 2008 ), and one Quanser® robot (Atashzar et al, 2017 ), respectively ( Figure A1 ). A software was developed in Windows platform that can connect and control the hardwares used in the experiments.…”
In this paper, a new scheme for multi-lateral remote rehabilitation is proposed. There exist one therapist, one patient, and several trainees, who are participating in the process of telerehabilitation (TR) in this scheme. This kind of strategy helps the therapist to facilitate the neurorehabilitation remotely. Thus, the patients can stay in their homes, resulting in safer and less expensive costs. Meanwhile, several trainees in medical education centers can be trained by participating partially in the rehabilitation process. The trainees participate in a “hands-on” manner; so, they feel like they are rehabilitating the patient directly. For implementing such a scheme, a novel theoretical method is proposed using the power of multi-agent systems (MAS) theory into the multi-lateral teleoperation, based on the self-intelligence in the MAS. In the previous related works, changing the number of participants in the multi-lateral teleoperation tasks required redesigning the controllers; while, in this paper using both of the decentralized control and the self-intelligence of the MAS, avoids the need for redesigning the controller in the proposed structure. Moreover, in this research, uncertainties in the operators' dynamics, as well as time-varying delays in the communication channels, are taken into account. It is shown that the proposed structure has two tuning matrices (
L
and
D
) that can be used for different scenarios of multi-lateral teleoperation. By choosing proper tuning matrices, many related works about the multi-lateral teleoperation/telerehabilitation process can be implemented. In the final section of the paper, several scenarios were introduced to achieve “Simultaneous Training and Therapy” in TR and are implemented with the proposed structure. The results confirmed the stability and performance of the proposed framework.
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