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.
Local Kinesthetic Guidance Based on Variable-Structure Control Techniques
01.09.2010
629578 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Kinesthetic Control Simulator Patent Application
| NTIS | 1970
KINESTHETIC SENSE PROVISION DEVICE AND KINESTHETIC SENSE PROVISION METHOD
| Europäisches Patentamt | 2023