Local Kinesthetic Guidance based on Variable-Structure Control Techniques

被引：0
|
作者：
Cruz-Valverde, Carlos [1 ]
Dominguez-Ramirez, Omar A. [2 ]
Ponce-de-Leon-Sanchez, Edgar R. [2 ]
Trejo-Mota, Itzel [2 ]
Sepulveda-Cervantes, Gabriel [3 ]
机构：
[1] Interdisciplinary Profess Unit Engn & Adv Technol, Div Res & Grad Studies, Mexico City, DF, Mexico
[2] Autonomous Univ Hidalgo State, Res Ctr Informat Technol & Syst, Hidalgo, Mexico
[3] Ctr Innovat & Technol Dev Comp, Mexico City, DF, Mexico
来源：
2010 IEEE ELECTRONICS, ROBOTICS AND AUTOMOTIVE MECHANICS CONFERENCE (CERMA 2010) | 2010年
关键词：
D O I：
10.1109/CERMA.2010.132
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, a nonlinear passivity-based control strategy based on stability in the sense of Lyapunov (Second method) and sliding mode control applied to Euler-Lagrange systems (robot arms) and extended to the PHANToM Premium 1.0 haptic device for purposes of local haptic guidance rehabilitation and medical diagnosis in people who have some motor impairment (on upper limb) is designed and implemented.
引用
收藏
页码：682 / 689
页数：8
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