Impedance control of non‐linear multi‐DOF teleoperation systems with time delay: absolute stability

Sharifi, Mojtaba; Salarieh, Hassan; Behzadipour, Saeed; Tavakoli, Mahdi

doi:10.1049/iet-cta.2017.1253

Cited by 28 publications

(6 citation statements)

References 39 publications

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“…Method 2 : The bilateral impedance control (Sharifi et al , 2018) is used, where the impedance control is set for both leader and follower robot. The impedance parameters are tuned separately across different subjects.…”

Section: Methodsmentioning

confidence: 99%

A robotic system with reinforcement learning for lower extremity hemiparesis rehabilitation

Cheng

et al. 2021

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Purpose This paper aims to propose a bilateral robotic system for lower extremity hemiparesis rehabilitation. The hemiplegic patients can complete rehabilitation exercise voluntarily with the assistance of the robot. The reinforcement learning is included in the robot control system, enhancing the muscle activation of the impaired limbs (ILs) efficiently with ensuring the patients’ safety. Design/methodology/approach A bilateral leader–follower robotic system is constructed for lower extremity hemiparesis rehabilitation, where the leader robot interacts with the healthy limb (HL) and the follow robot is worn by the IL. The therapeutic training is transferred from the HL to the IL with the assistance of the robot, and the IL follows the motion trajectory prescribed by the HL, which is called the mirror therapy. The model reference adaptive impedance control is used for the leader robot, and the reinforcement learning controller is designed for the follower robot. The reinforcement learning aims to increase the muscle activation of the IL and ensure that its motion can be mastered by the HL for safety. An asynchronous algorithm is designed by improving experience relay to run in parallel on multiple robotic platforms to reduce learning time. Findings Through clinical tests, the lower extremity hemiplegic patients can rehabilitate with high efficiency using the robotic system. Also, the proposed scheme outperforms other state-of-the-art methods in tracking performance, muscle activation, learning efficiency and rehabilitation efficacy. Originality/value Using the aimed robotic system, the lower extremity hemiplegic patients with different movement abilities can obtain better rehabilitation efficacy.

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Section: Methodsmentioning

confidence: 99%

A robotic system with reinforcement learning for lower extremity hemiparesis rehabilitation

Cheng

et al. 2021

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“…To solve the problem, impedance control is adopted to improve transparency and flexibility for underwater teleoperation systems. Two desired impedance models [14]- [15] are proposed for underwater teleoperation systems to provide the manipulators' desired trajectory. The impedance control models can regulate the reference trajectory tracked by the manipulators through changes of different contact forces, which improves the transparency and makes the teleoperation systems complete more precise work in applications.…”

Section: Introductionmentioning

confidence: 99%

Force sensorless fixed-time model-free impedance coordination control for uncertain underwater teleoperation systems

Yang

Chen

Gan

et al. 2022

Preprint

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New robust fixed-time model-free impedance controllers are proposed in this paper for coordination control of underwater teleoperation systems with system model uncertainties and unknown external underwater interference. Firstly, the transparency and the flexibility of the master-slave manipulators are improved without force sensor, respectively. A new terminal sliding mode force observer is designed to estimate force in fixed time by designing observer parameters. Moreover, time delay estimators are designed to compensate for the effect of model uncertainties and unknown external disturbances. Furthermore, a novel nonsingular integral terminal sliding mode (NITSM) surface and fixed-time controllers are proposed, so that master-slave coordination control can be obtained in fixed time with zero errors. The coordination performance and global stability of the underwater teleoperation systems are proved with the Lyapunov stability theory. Finally, simulation results highlight the feasibility of the proposed control scheme. The results show the super performance of the position and force coordination control for the underwater teleoperation systems.

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“…Teleoperation systems bring together communication networks, robotics and modern control theories to enable remote manipulation over a distance [1][2][3]. In such systems, a human operator manipulates a master robot via the exchange of signals over a communication network to command a slave robot to perform tasks in a remote environment.…”

Section: Introductionmentioning

confidence: 99%

Event‐triggered control for adaptive bilateral teleoperators with communication delays

Liu

2020

IET Control Theory & Applications

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Impedance control of non‐linear multi‐DOF teleoperation systems with time delay: absolute stability

Cited by 28 publications

References 39 publications

A robotic system with reinforcement learning for lower extremity hemiparesis rehabilitation

A robotic system with reinforcement learning for lower extremity hemiparesis rehabilitation

Force sensorless fixed-time model-free impedance coordination control for uncertain underwater teleoperation systems

Event‐triggered control for adaptive bilateral teleoperators with communication delays

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