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Multi-DoFs Exoskeleton-Based Bilateral Teleoperation with the Time-Domain Passivity Approach

Published online by Cambridge University Press:  01 March 2019

Domenico Buongiorno Open the ORCID record for Domenico Buongiorno [Opens in a new window] ,
Domenico Chiaradia ,
Simone Marcheschi ,
Massimiliano Solazzi  and
Antonio Frisoli
Domenico Buongiorno*
Affiliation:
PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy. E-mails: domenico.chiaradia@santannapisa.it, simone.marcheschi@santannapisa.it, massimiliano.solazzi@santannapisa.it, antonio.frisoli@santannapisa.it
Domenico Chiaradia
Affiliation:
PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy. E-mails: domenico.chiaradia@santannapisa.it, simone.marcheschi@santannapisa.it, massimiliano.solazzi@santannapisa.it, antonio.frisoli@santannapisa.it
Simone Marcheschi
Affiliation:
PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy. E-mails: domenico.chiaradia@santannapisa.it, simone.marcheschi@santannapisa.it, massimiliano.solazzi@santannapisa.it, antonio.frisoli@santannapisa.it
Massimiliano Solazzi
Affiliation:
PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy. E-mails: domenico.chiaradia@santannapisa.it, simone.marcheschi@santannapisa.it, massimiliano.solazzi@santannapisa.it, antonio.frisoli@santannapisa.it
Antonio Frisoli
Affiliation:
PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy. E-mails: domenico.chiaradia@santannapisa.it, simone.marcheschi@santannapisa.it, massimiliano.solazzi@santannapisa.it, antonio.frisoli@santannapisa.it
*
*Corresponding author. E-mail: domenico.buongiorno@santannapisa.it
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Summary

It is well known that the sense of presence in a tele-robot system for both home-based tele-rehabilitation and rescue operations is enhanced by haptic feedback. Beyond several advantages, in the presence of communication delay haptic feedback can lead to an unstable teleoperation system. During the last decades, several control techniques have been proposed to ensure a good trade-off between transparency and stability in bilateral teleoperation systems under time delays. These proposed control approaches have been extensively tested with teleoperation systems based on identical master and slave robots having few degrees of freedom (DoF). However, a small number of DoFs cannot ensure both an effective restoration of the multi-joint coordination in tele-rehabilitation and an adequate dexterity during manipulation tasks in rescue scenario. Thus, a deep understanding of the applicability of such control techniques on a real bilateral teleoperation setup is needed. In this work, we investigated the behavior of the time-domain passivity approach (TDPA) applied on an asymmetrical teleoperator system composed by a 5-DoFs impedance designed upper-limb exoskeleton and a 4-DoFs admittance designed anthropomorphic robot. The conceived teleoperation architecture is based on a velocity–force (measured) architecture with position drift compensation and has been tested with a representative set of tasks under communication delay (80 ms round-trip). The results have shown that the TDPA is suitable for a multi-DoFs asymmetrical setup composed by two isomorphic haptic interfaces characterized by different mechanical features. The stability of the teleoperator has been proved during several (1) high-force contacts against stiff wall that involve more Cartesian axes simultaneously, (2) continuous contacts with a stiff edge tests, (3) heavy-load handling tests while following a predefined path and (4) high-force contacts against stiff wall while handling a load. The found results demonstrated that the TDPA could be used in several teleoperation scenarios like home-based tele-rehabilitation and rescue operations.

Keywords

Multi-DoFs asymmetrical teleoperationTDPAExoskeletonPassivityTele-rehabilitationDisaster scenario
Type
Articles
Information
Robotica , Volume 37 , Issue 9 , September 2019 , pp. 1641 - 1662
Copyright
© Cambridge University Press 2019 

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