Title :
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
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;
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
Print_ISBN :
0-7803-7612-9
DOI :
10.1109/IEMBS.2002.1053327
