Passive teleoperation of mobile robot with input-output linearization and dynamic extension

Falcon, Pablo; Barreiro, Antonio; Cacho, Miguel D.; Delgado, Emma

doi:10.1109/cyber.2014.6917517

Cited by 3 publications

(2 citation statements)

References 10 publications

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“…Those of that system can fail producing possible damage on the quadriplegic people. The way proposed in the project is the use of additional system to reduce the probability to have wrong orders because the bad reading signals [13].…”

Section: Figure1 Attendant Controlled Electric Power Wheelchairmentioning

confidence: 99%

Redundant Mobility System Design for Impaired People

Torres¹

2017

JOACE

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Mobility is important factor for a good quality of life. Injury on back spine produce loss of self-mobility and need of additional help from other people include the family members or medical nurse staff. The aim of the project is a design a system for provide independent mobility for disabled people. The final system would be a design for a Handicapped person with spinal cord injury those who could not move their hands as well as legs, with a new human-machine interface for controlling a wheelchair by head movements. It is a good alternative to self-movement when other parts of the body have mobility problems. It has been found that this project can be used by not only the Quadriplegics, but also by all those who are mobility impaired. Quadriplegics are limited in lower and upper member movement and need a specific device to communicate with a system like wheel chair for mobility without assistance. Design mechanism for quadriplegics to provide movement in a specific biomechanical area and independence is the main goal of the project. The system is a following head tilt movement that produces a signal for control a wheelchair that could operate in any direction using head movements. This system is complemented with movement intention sensor software. The software read the intention and matches the order to double check the movement order. Additional to this software, the system has a program to help the person to follow a specific trajectory and the control of the position to avoid injury for a mismatch order. 

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Section: Figure1 Attendant Controlled Electric Power Wheelchairmentioning

confidence: 99%

Redundant Mobility System Design for Impaired People

Torres¹

2017

JOACE

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“…The teleoperation system is composed of a human operator, master device, local control station, communication channel and slave mobile robot. The master device is maneuvered by a human operator and a slave mobile robot is designed to follow the human operator's commands [1].…”

Section: Introductionmentioning

confidence: 99%

Telecontrol of AutoMerlin Robot by Employing Fuzzy Logic

Shahzad¹,

Al-Jarrah²,

Roth³

2016

IJMERR

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In this work the novel teleoperation of real mobile robot is presented. In order to cope with the issue of random time delay which makes system unstable, Fuzzy logic approach has been used to design a stable controller to teleoperate AutoMerlin mobile robot. The fuzzy controller has been designed in such a way that it takes two inputs to give one output. First input is generated by human operator from control station using master device like joystick. The second input to the controller is generated based on the obstacles in front of mobile robot. The onboard proximity sensors scan the environment and the algorithm deployed on the mobile robot as local intelligence determines the location of nearest obstacle and feeds its value to controller as second input. When controller gets both inputs then it calculates the appropriate speed for mobile robot. The fuzzy rules have been defined in such a way that they protect the robot from colliding with obstacles and random delay does not affect the performance and stability. The presented results exhibit the performance and stability of overall system in the presence of random time delay. 

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Robust controller for trajectory tracking of a Mobile Robot

Chandra

Mija

2016

2016 IEEE 1st International Conference on Power Electronics, Intelligent Control and Energy Systems (ICPEICES)

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Passive teleoperation of mobile robot with input-output linearization and dynamic extension

Cited by 3 publications

References 10 publications

Redundant Mobility System Design for Impaired People

Redundant Mobility System Design for Impaired People

Telecontrol of AutoMerlin Robot by Employing Fuzzy Logic

Robust controller for trajectory tracking of a Mobile Robot

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