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

Prokopiou, PA; Tzafestas, SG; Harwin, WS

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