NDLI: Haptic training method for a therapy on upper limb

Content Provider	IEEE Xplore Digital Library
Author	Jarillo-Silva, A. Domínguez-Ramírez, O.A. Parra-Vega, V.
Copyright Year	2010
Description	Author affiliation: Robotics and Advanced, Manufacturing Division, CINVESTAV Saltillo, Coahuila, México (Parra-Vega, V.) \|\| Department of Informatic Technology, University of the Sierra Sur, Oaxaca, México (Jarillo-Silva, A.) \|\| Research Center on Information, Technologies and Systems, Autonomous University of Hidalgo State, México (Domínguez-Ramírez, O.A.)
Abstract	There are many research works on robotic devices to assist in movement training following neurologic injuries such as stroke with effects on upper limbs. Conventional neurorehabilitation appears to have little impact on spontaneous biological recovery, to this end robotic neurorehabilitation has the potential for a greater impact. Clinical evidence regarding the relative effectiveness of different types of robotic therapy controllers is limited, but there is initial evidence that some control strategies are more effective than others. This paper consider the contribution on a haptic training method based on kinesthetic guidance scheme with a non linear control law (proxy-based second order sliding mode control) with the human in the loop, and with purpose to guide a human user's movement to move a tool (pen in this case) along a predetermined smooth trajectory with finite time tracking, the task is a real maze. The path planning can compensate for the inertial dynamics of changes in direction, minimizing the consumed energy and increasing the manipulability of the haptic device with the human in the loop. The Phantom haptic device is used as experimental platform, and the experimental results demonstrate the effectiveness of this application.
Starting Page	1750
Ending Page	1754
File Size	1035300
Page Count	5
File Format	PDF
ISBN	9781424464951
e-ISBN	9781424464982
DOI	10.1109/BMEI.2010.5640030
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-16
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	diagnosis and rehabilitation Haptic guidance sliding mode control Phantoms Humans Medical treatment Haptic interfaces Trajectory path planning Joints Robots
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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