Cartesian Control Application in Haptic Interfaces for Motor Rehabilitation Purposes

Author

Gonzalez-Rojas, Luis A. ; Jarillo-Silva, Alejandro ; Cruz-Tolentino, Jose A. ; Gomez, Roberto ; Garcia-Antonio, Mario ; Dominguez-Ramirez, Omar A.

Author_Institution

Comput. Haptics Lab., Univ. de la Sierra Sur, Oaxaca, Mexico

fYear

2012

fDate

19-23 Nov. 2012

Firstpage

249

Lastpage

254

Abstract

The use of new technologies in the rehabilitation research has been growing in the last years, new kind of haptic devices has been shown in the market, and they are getting more accessible for the final customer in terms of price. Our goal is try to apply some cartesian controls and identify what is the best option for future implementations in haptic guidance trough specific paths taking care with the patient and trying to do not hurt him. We compared a conventional PID control versus PID Control mixed with a wavelet filter and we obtained good results with minimal error displacement.

Keywords

filtering theory; haptic interfaces; patient care; patient rehabilitation; three-term control; wavelet transforms; cartesian control application; haptic devices; haptic guidance; haptic interfaces; minimal error displacement; motor rehabilitation purposes; rehabilitation research; wavelet filter mixed PID Control; PID; control; haptic; rehabilitation; wavelet;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Robotics and Automotive Mechanics Conference (CERMA), 2012 IEEE Ninth

Conference_Location

Cuernavaca

Print_ISBN

978-1-4673-5096-9

Type

conf

DOI

10.1109/CERMA.2012.47

Filename

6524586