DocumentCode
2174222
Title
Local Kinesthetic Guidance Based on Variable-Structure Control Techniques
Author
Cruz-Valverde, Carlos ; Domínguez-Ramirez, Omar A. ; Ponce-de-León-Sanchez, Edgar R. ; Trejo-Mota, Itzel ; SepÙlveda-Cervantes, Gabriel
Author_Institution
Interdiscipl. Prof. Unit on Eng. & Adv. Technol., Div. of Res. & Grad. Studies, Mexico City, Mexico
fYear
2010
fDate
Sept. 28 2010-Oct. 1 2010
Firstpage
682
Lastpage
689
Abstract
In this paper, a nonlinear passivity-based control strategy based on stability in the sense of Lyapunov (Second method) and sliding mode control applied to Euler-Lagrange systems (robot arms) and extended to the PHANToM Premium 1.0 haptic device for purposes of local haptic guidance rehabilitation and medical diagnosis in people who have some motor impairment (on upper limb) is designed and implemented.
Keywords
Lyapunov methods; patient diagnosis; stability; variable structure systems; Lyapunov method; PHANToM Premium 1.0 haptic device; local kinesthetic guidance; medical diagnosis; nonlinear passivity based control strategy; sliding mode control; variable structure control technique; Equations; Force; Haptic interfaces; Humans; Joints; Mathematical model; Sliding mode control;
fLanguage
English
Publisher
ieee
Conference_Titel
Electronics, Robotics and Automotive Mechanics Conference (CERMA), 2010
Conference_Location
Morelos
Print_ISBN
978-1-4244-8149-1
Type
conf
DOI
10.1109/CERMA.2010.132
Filename
5692418
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