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

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 25, Issue 4, 1999, Pages 311-340

  Prokopiou, Platon A ^a   Tzafestas, Spyros G ^a   Harwin, William S ^b  

^a NATIONAL TECHNICAL UNIVERSITY OF ATHENS   (Greece)

^b UNIVERSITY OF READING   (United Kingdom)

Author keywords

Enhanced Yokokohji Yoshikawa scheme; Human arm model; Hypothetical neural input electromyograph prediction; Neuropredictive teleoperation; Time delays compensation

Indexed keywords

EID: 0012584021     PISSN: 09210296     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1008126212102     Document Type: Article

References (45)

1. Kazerooni, H., Tsai, T.-I., and Hollerbach, K.: A controller design framework for telerobotic systems, IEEE Trans. Control Systems Technol. 1(1) (1993), 50-62.
2. Kobrinski, A. A. and Kobrinski, A. E.: Bras Manipulateurs des Robots, Editions Mir, Moscow, 1989 (in French).
3. Lee, S. and Lee, H. S.: Modeling, design and evaluation of advanced teleoperator control systems with short time delay, IEEE Trans. Robotics Automat. 9(5) (1993), 607-623.
4. Prokopiou, P. A., Harwin, W. S., and Tzafestas, S. G.: Exploiting a human arm model for fast, intuitive and time-delays-robust telemanipulation, in: S. G. Tzafestas (ed.), Advances in Manufacturing: Decision, Control and Information Technology, Springer, Berlin/London, 1999, pp. 255-266.
5. Prokopiou, P. A., Harwin, W. S., and Tzafestas, S. G.: Enhancement of a telemanipulator design with a human arm model, in: S. G. Tzafestas and G. Schmidt (eds), Progress in System and Robot Analysis and Control Design, Springer, Berlin/London, 1999, pp. 445-456.
6. Tzafestas, S. G. and Prokopiou, P. A.: Compensation of teleoperator uncertainties with a sliding mode controller, J. Robotic Computer-Integrated Manufacturing 13(1) (1997), 9-20.
7. Yokokohji, Y. and Yoshikawa, T.: Bilateral control of master-slave manipulators for ideal kinesthetic coupling - formulation and experiment, IEEE Trans. Robotics Automat. 10(5) (1994), 605-619.
8. Van de Vegte, J. M. E., Milgram, P., and Kwong, R. H.: Teleoperator control models: Effects of time delay and imperfect system knowledge, IEEE Trans. Systems Man Cybernet. 20(6) (1990), 1258-1272.
9. Niemeyer, G. and Slotine, J.-J. E.: Stable adaptive teleoperation, IEEE J. Oceanic Engineering 16(1) (1991), 152-162.
10. Niemeyer, G. and Slotine, J.-J. E.: Towards force reflecting teleoperation through the internet, in: Proc. of 1998 EEE Internat. Conf. on Robot. Automat., Leuven, Belgium, 1998, pp. 1909-1915.
11. Prokopiou, P. A.: Neuropredictive teleoperation and related subjects, Internal Report, THRIL, Department of Cybernetics, University of Reading, UK and IRAL, Department of Electrical and Computer Engineering, National Technical University of Athens, Greece, July 1998.
12. Prokopiou, P. A., Harwin, W. S., and Tzafestas, S. G.: Fast, intuitive and time-delays-robust telemanipulator designs using a human arm model, in: Proc. of the 6th Symp. on Intel. Robot. Systems (SIRS'98), Edinburgh, UK, 21-23 July 1998, pp. 7-16.
13. Sheridan, T. B.: Space teleoperation through time dealy: Review and prognosis, IEEE Trans. Robotics Automat. 9(5) (1993), 592-606.
14. Lawrence, D. A.: Stability and transparency in bilateral teleoperation, IEEE Trans. Robotics Automat. 9(5) (1993), 624-637.
15. Anderson, R. J. and Spong, M. W.: Bilateral control if teleoperators with time delay, IEEE Trans. Automat. Control 34(5) (1989), 494-501.
16. Peñín, L. F., Caballero, A., Acaril, R., and Barientos, A.: Human behaviour modeling in Master-Slave teleoperation with kinesthetic feedback, in: Proc. IEEE Internat. Conf. on Robot. Automat., Leuven, Belgium, 1998, pp. 2244-2249.
17. Durlach, N.: The potential of teleoperation for entertainment and education, Presence 6(3) (1997), 350-351.
18. Sano, A., Fujimoto, H., and Tanaka, M.: Gain-scheduled compensation for time delay of bilateral teleoperation, in: Proc. of IEEE Internat. Conf. on Robot. Automat., Leuven, Belgium, 1998, pp. 1916-1923.
19. Brady, K. and Tarn, T.-J.: Internet-bassed remote teleoperation, in: Proc. of IEEE Internat. Conf. on Robot. Automat., Leuven, Belgium, 1998, pp. 65-70.
20. Colgate, J. E.: Robust impedance shaping telemanipulation, IEEE Trans. Robotics Automat. 9(4) (1993), 374-384.
21. Prokopiou, P. A., Tzafestas, C. S., Tzafestas, E. S., and Tzafestas, S. G.: Neural network robust adaptive telemanipulator control: Comparison with sliding-mode control, Syst. Anal. Modelling Simulation 33(3) (1998), 259-294.
22. Harwin, W. S., Rahman, T., and Foulds, R.: A review of design issues in rehabilitation robotics with reference to North American research, IEEE J. Rehabilitation Engrg. 31 (1995), 3-13.
23. Sheridan, T. B.: Telerobotics, Automation and Human Supervisory Control, MIT Press, Cambridge, MA, 1992.
24. Hill, A. V.: The heat of shortening and the dynamic constants of muscle, Proc. Royal Society B 126 (1938), 136-195.
25. Prochazka, A., Gillard, D., and Bennett, D. J.: Positive force feedback control of muscles, J. Neurophysiology 77(6) (1997), 3226-3236.
26. Ramos, C. F. and Stark, L. W.: Postural maintenance during fast forward bending: A model simulation experiment determines a reduced trajectory, Experimental Brain Research 82 (1990), 651-657.
27. Efranian, A., Chizeck, H. J., and Hashemi, R. M.: Using evoked EMG as a synthetic force sensor of isometric electrically stimulated muscle, IEEE Trans. Biomedical Engrg. 45(2) (1998), 188-202.
28. Gollee, H. and Hunt, K. J.: Nonlinear modelling and control of electrically stimulated muscle: A local model network approach, Internat. J. Control 68(6) (1997), 1259-1288.
29. Bobet, J., Stein, R. B., and Oguztoreli, M. N.: A linear time-varying model of force generation in skeletal muscle, IEEE Trans. Biomedical Engrg. 40(10) (M.N.), 1000-1006.
30. Bernotas, L., Crago, P., and Chizeck, H. J.: A discrete-time model of electrically stimulated muscle, IEEE Trans. Biomedical Engrg. 33(9) (1986), 829-838.
31. Gossett, J. H., Clymer, B. D., and Hemami, H.: Long and short delay feddback on one-link nonlinear forearm with coactivation, IEEE Trans. Systems Man Cybernet. 24(9) (1994), 1317-1327.
32. Bennett, D. J., Hollerbach, J. M., Xu, Y., and Hunter, I. W.: Time varying stifness of human elbow joint during cyclic voluntary movement, Experimental Brain Res. 88 (1992), 433-442.
33. Haugland, M. K. and Sinkjaer, T.: Cutaneous whole nerve recordings used for correction of footdrop in hemiplegic man, IEEE Trans. Rehabilitation Engrg. 3(4) (1995), 307-317.
34. Narendra, K. S. and Annaswamy, A. M.: Stable Adaptive Systems, Prentice-Hall, Englewood Cliffs, NJ, 1989.
35. Zangemeister, W. H., Lehman, S., and Stark, L. W.: Simulation of head movement trajectories: Model and fit to main sequence, Biological Cybernetics 41 (1981), 19-32.
36. Houk, J. C., Buckingham, J. T., and Barto, A. G.: Models of the cerebellum and motor learning, Behavioral Brain Sci. 19 (1996), 368-383.
37. Miall, R. C., Weir, D. J., Wolpert, D. M., and Stein, J. F.: Is the cerebellum a Smith predictor?, J. Motor Behavior 25(3) (1993), 203-216.
38. Towhidkhah, F., Gander, R. E., and Wood, H. C.: Model predictive control: A model for joint movement, J. Motor Behavior 29(3) (1997), 209-222.
39. Kyberd, P. J. and Chappell, P. H.: The Southampton hand: An intelligent myolectric prosthesis, J. Rehab. Res. Development 31(4) (1994), 326-335.
40. Gottlieb, G.: A computational model if the simplest motor program, J. Motor Behavior 25(3) (1993), 153-161.
41. Prokopiou, P. A., Harwin, W. S., and Tzafestas, S. G.: Variable-time-delays-robust telemanipulation through master state prediction, AIM '99: 1999 IEEE/ASME Internat. Conf. on Advan. Intel. Mechatr., Atlanta, USA, September 19-22, 1999.
42. Hannaford, B., Winters, J. M., Chou, C. P., and Marbot, P. H.: The anthroform arm: A system for the study of spinal circuits, Ann. Biomed. Engrg. 23 (1995) (L. Stark Special Issue), 399-408.
43. Tzamtzi, M. P. and Tzafestas, S. G.: Stability robustness of feedback linearizable systems with input unmodelled dynamics, Proc. IEE: Control Theory Appl. 145(6) (1998).
44. Tzafestas, C. S., Kheddar, A., and Coiffet, P.: Kinesthetic feedback on the human hand interacting with virtual environments, in: S. G. Tzafestas and G. Schmidt (eds), Progress in System and Robot Analysis and Control Design, Springer, Berlin/London, 1999, 397-422.
45. Tzafestas, S. G. and Tzafestas, C. S.: Virtual reality in telerobotics: An overview and two case studies, ELECTROSOFT '99: The 4th Internat. Conf. on Software for Electr. Engrg. Analysis and Design, Seville, Spain, May 17-19, 1999.