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
fDate :
Sept. 28 2010-Oct. 1 2010
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;
Conference_Titel :
Electronics, Robotics and Automotive Mechanics Conference (CERMA), 2010
Conference_Location :
Morelos
Print_ISBN :
978-1-4244-8149-1
DOI :
10.1109/CERMA.2010.132
