A teleoperation platform for networked home healthcare robotic system over the Internet

Author

Liu, Peter Xiaoping ; Meng, Max Q H ; Gu, Jason J.

Author_Institution

Dept. of Syst. & Comput. Eng., Carleton Univ., Ottawa, Ont., Canada

Volume

3

fYear

2002

fDate

23-26 Oct. 2002

Firstpage

2369

Abstract

A teleoperation platform for networked home healthcare robotic system over the Internet is presented. In particular, we introduce a novel adaptive control scheme to deal with time-varying Internet delays. The control scheme is based on a hierarchical decomposition and dynamic allocation of tasks between the human operator and robot´s on-board controller. The experimental results show the feasibility of the control scheme and confirm the concepts.

Keywords

Internet; adaptive control; controllers; health care; medical robotics; telemedicine; control scheme feasibility; dynamic allocation; elderly people; health vigilance; hierarchical decomposition; human operator; living support services; networked home healthcare robotic system; severely handicapped people; teleoperation platform; time-varying Internet delays; Adaptive control; Computer networks; Delay; Home computing; Humans; IP networks; Internet; Medical services; Robot control; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology, 2002. 24th Annual Conference and the Annual Fall Meeting of the Biomedical Engineering Society EMBS/BMES Conference, 2002. Proceedings of the Second Joint

ISSN

1094-687X

Print_ISBN

0-7803-7612-9

Type

conf

DOI

10.1109/IEMBS.2002.1053327

Filename

1053327