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Development of a four-channel haptic system for remote assessment of patients with impaired hands

Published online by Cambridge University Press:  13 September 2016

Omar Daud ,
Roberto Oboe ,
Fabio Oscari ,
Stefano Masiero  and
Giulio Rosati
Omar Daud*
Affiliation:
Center for the Development of Nanoscience and Nanotechnology, CEDENNA, Universidad de Santiago de Chile, Av. Libertador Bernardo O'Higgins 3363, Santiago, Chile
Roberto Oboe
Affiliation:
Department of Management and Engineering, University of Padova, Stradella San Nicola, 3, 36100, Vicenza, Italy
Fabio Oscari
Affiliation:
Department of Management and Engineering, University of Padova, Stradella San Nicola, 3, 36100, Vicenza, Italy
Stefano Masiero
Affiliation:
Department of Neurology, Padova Hospital, Padova, Italy
Giulio Rosati
Affiliation:
Department of Management and Engineering, University of Padova, Stradella San Nicola, 3, 36100, Vicenza, Italy
*
*Corresponding author. E-mail: omar.daud@usach.cl
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Summary

Haptic devices have proven effective in stimulating proprioceptive sensing in post-stroke patients. In this work, pre-existing devices were used together in a remote environment for the teleassessment of impaired hands. A four-channel bilateral control system in the presence of large and variable time delay is proposed as a proof of concept. Time delay is managed with a novel communication disturbance observer (CDOB). The system also employed a scaling down compensation value (SDCV) for the CDOB. The proposed control system was tested successfully in bilateral haptic interaction, simulating a remote motor and functional evaluation of patients' hands, guaranteeing safe and stable interaction, even in the presence of large network delays.

Keywords

Rehabilitation roboticsForce feedbackNetworked control systemsSeries elastic actuator
Type
Articles
Information
Robotica , Volume 35 , Issue 10 , October 2017 , pp. 1975 - 1991
Copyright
Copyright © Cambridge University Press 2016 

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