A novel path planning and control framework for passive resistance therapy with a robot manipulator |
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| Authors: | A Behal J Chen D M Dawson |
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| Affiliation: | 1. EECS and NanoScience Technology Center, University of Central Florida , Orlando, FL 32826, USA abehal@mail.ucf.edu;3. Naval Architecture and Marine Engg., University of Michigan , Ann Arbor, MI 48109, USA;4. Electrical &5. Computer Engg., Clemson University , Clemson, SC 29634, USA |
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| Abstract: | In this article, we present a paradigm for safe path generation and control for a robotic manipulator such that it provides programmable passive resistance therapy to patients with deficits in the upper extremities. When the patient applies an interaction force at the robot's end-effector, a dynamic path generator time parameterises any therapist-specified contour in the robot's workspace–thus, the robot mimics the dynamics of a passive impedance whose anisotropy vector can be continuously reconfigured. The proposed algorithm is easily implementable because it is robust to uncertainty in the robot dynamics. Moreover, the proposed strategy also guarantees user safety by maintaining the net flow of energy during the human robot interaction from the user towards the manipulator. |
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| Keywords: | Human robot interaction Passivity Lyapunov-based design Path planning Robust control Continuous controller |
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