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A Novel Scheme for Human-Friendly and Time-Delays Robust Neuropredictive Teleoperation

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dc.contributor.author Prokopiou, PA en
dc.contributor.author Tzafestas, SG en
dc.contributor.author Harwin, WS en
dc.date.accessioned 2014-03-01T01:14:20Z
dc.date.available 2014-03-01T01:14:20Z
dc.date.issued 1999 en
dc.identifier.issn 0921-0296 en
dc.identifier.uri https://dspace.lib.ntua.gr/xmlui/handle/123456789/13004
dc.subject Enhanced Yokokohji-Yoshikawa scheme en
dc.subject Human arm model en
dc.subject Hypothetical neural input/electromyograph prediction en
dc.subject Neuropredictive teleoperation en
dc.subject Time-delays compensation en
dc.subject.classification Computer Science, Artificial Intelligence en
dc.subject.classification Robotics en
dc.subject.other ELECTRICALLY STIMULATED MUSCLE en
dc.subject.other BILATERAL TELEOPERATION en
dc.subject.other MODEL en
dc.subject.other MOVEMENT en
dc.subject.other FEEDBACK en
dc.subject.other COMPENSATION en
dc.subject.other CEREBELLUM en
dc.subject.other SIMULATION en
dc.subject.other INTERNET en
dc.subject.other SYSTEMS en
dc.title A Novel Scheme for Human-Friendly and Time-Delays Robust Neuropredictive Teleoperation en
heal.type journalArticle en
heal.identifier.primary 10.1023/A:1008126212102 en
heal.identifier.secondary http://dx.doi.org/10.1023/A:1008126212102 en
heal.language English en
heal.publicationDate 1999 en
heal.abstract A novel Neuropredictive Teleoperation (NPT) Scheme is presented. The design results from two key ideas: the exploitation of the measured or estimated neural input to the human arm or its electromyograph (EMG) as the system input and the employment of a predictor of the arm movement, based on this neural signal and an arm model, to compensate for time delays in the system. Although a multitude of such models, as well as measuring devices for the neural signals and the EMG, have been proposed, current telemanipulator research has only been considering highly simplified arm models. In the present design, the bilateral constraint that the master and slave are simultaneously compliant to each other's state (equal positions and forces) is abandoned, thus obtaining a ""simple to analyze"" succession of only locally controlled modules, and a robustness to time delays of up to 500 ms. The proposed designs were inspired by well established physiological evidence that the brain, rather than controlling the movement on-line, ""programs"" the arm with an action plan of a complete movement, which is then executed largely in open loop, regulated only by local reflex loops. As a model of the human arm the well-established Stark model is employed, whose mathematical representation is modified to make it suitable for an engineering application. The proposed scheme is however valid for any arm model. BIBO-stability and passivity results for a variety of local control laws are reported. Simulation results and comparisons with ""traditional"" designs also highlight the advantages of the proposed design. en
heal.publisher KLUWER ACADEMIC PUBL en
heal.journalName Journal of Intelligent and Robotic Systems: Theory and Applications en
dc.identifier.doi 10.1023/A:1008126212102 en
dc.identifier.isi ISI:000082508300004 en
dc.identifier.volume 25 en
dc.identifier.issue 4 en
dc.identifier.spage 311 en
dc.identifier.epage 340 en


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