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networked control systems

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Development of a four-channel haptic system for remote assessment of patients with impaired hands
Omar Daud, Roberto Oboe, Fabio Oscari, Stefano Masiero, Giulio Rosati
Journal:

Robotica / Volume 35 / Issue 10 / October 2017

Published online by Cambridge University Press:

13 September 2016, pp. 1975-1991
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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.