Compensation of packet loss for a network-based rehabilitation system

Joonbum Bae; Wenlong Zhang; Masayoshi Tomizuka

doi:10.1109/ICRA.2012.6224592

Compensation of packet loss for a network-based rehabilitation system

Joonbum Bae
, Wenlong Zhang
, Masayoshi Tomizuka

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

13 Scopus citations

Abstract

In this paper, a network-based rehabilitation system is proposed to increase mobility of a rehabilitation system and to enable tele-rehabilitation. Control algorithms and rehabilitation strategies distributed at the central location (physical therapist) and the local site (patient) communicate over wireless network to realize a network-based rehabilitation system. To deal with possible packet losses over wireless network, a modified linear quadratic Gaussian (LQG) controller and a disturbance observer (DOB) are applied. The performance of the proposed system and control algorithms is verified by simulation and experiment with an actual knee rehabilitation system. The simulation and experiment results show that the network-based rehabilitation system with the proposed control schemes can generate the desired assistive torque accurately in presence of packet losses.

Original language	English (US)
Title of host publication	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2413-2418
Number of pages	6
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/ICRA.2012.6224592
State	Published - Jan 1 2012
Externally published	Yes
Event	2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States Duration: May 14 2012 → May 18 2012

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/Territory	United States
City	Saint Paul, MN
Period	5/14/12 → 5/18/12

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2012.6224592

Cite this

Bae, J., Zhang, W., & Tomizuka, M. (2012). Compensation of packet loss for a network-based rehabilitation system. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 2413-2418). Article 6224592 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6224592

Compensation of packet loss for a network-based rehabilitation system. / Bae, Joonbum; Zhang, Wenlong; Tomizuka, Masayoshi.
2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 2413-2418 6224592 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Bae, J, Zhang, W & Tomizuka, M 2012, Compensation of packet loss for a network-based rehabilitation system. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6224592, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 2413-2418, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012, Saint Paul, MN, United States, 5/14/12. https://doi.org/10.1109/ICRA.2012.6224592

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AB - In this paper, a network-based rehabilitation system is proposed to increase mobility of a rehabilitation system and to enable tele-rehabilitation. Control algorithms and rehabilitation strategies distributed at the central location (physical therapist) and the local site (patient) communicate over wireless network to realize a network-based rehabilitation system. To deal with possible packet losses over wireless network, a modified linear quadratic Gaussian (LQG) controller and a disturbance observer (DOB) are applied. The performance of the proposed system and control algorithms is verified by simulation and experiment with an actual knee rehabilitation system. The simulation and experiment results show that the network-based rehabilitation system with the proposed control schemes can generate the desired assistive torque accurately in presence of packet losses.

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Compensation of packet loss for a network-based rehabilitation system

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