Control of a Nonlinear Tele-Rehabilitation System Based on Impedance Control

In this paper designing and control of a teleoperated rehabilitation system is studied by impedance consensus. However there are existing robots and accomplished studies in the field of rehabilitation system which are generally designed in unilateral scheme. In addition, some of these systems which are assigned with two users are controlled “locally” not “remotely”. In this paper it is assumed that multi-user teleoperated rehabilitation system has at least two users, therapist and patient. Of course the number of therapist and patient can be increased as well as the number of trainees. Most studies in this context consider nonlinear model of system with linear assumption of the dynamics. However, the proposed method introduces a framework in cooperative teleoperated rehabilitation system based on impedance control of leaders-followers in multiagent context. At the end of the paper, the performance of the proposed framework is validated by simulation.