A Teleoperation System with Impedance Control and Disturbance Observer for Robot-Assisted Rehabilitation

TL;DR

This paper introduces a bilateral teleoperation system with impedance control and disturbance observer for robot-assisted rehabilitation, enabling safe, adaptable, and effective physical therapy with therapist demonstrations replay.

Contribution

It presents a novel integrated control framework combining impedance control and disturbance observer for flexible, safe, and efficient robot-assisted rehabilitation.

Findings

System effectively switches between tracking and human-robot interaction modes.

Able to execute diverse pre-defined trajectories for therapy.

Successfully captures and replays therapist demonstrations.

Abstract

Physical movement therapy is a crucial method of rehabilitation aimed at reinstating mobility among patients facing motor dysfunction due to neurological conditions or accidents. Such therapy is usually featured as patient-specific, repetitive, and labor-intensive. The conventional method, where therapists collaborate with patients to conduct repetitive physical training, proves strenuous due to these characteristics. The concept of robot-assisted rehabilitation, assisting therapists with robotic systems, has gained substantial popularity. However, building such systems presents challenges, such as diverse task demands, uncertainties in dynamic models, and safety issues. To address these concerns, in this paper, we proposed a bilateral teleoperation system for rehabilitation. The control scheme of the system is designed as an integrated framework of impedance control and disturbance observer where the former can ensure compliant human-robot interaction without the need for force sensors while the latter can compensate for dynamic uncertainties when only a roughly identified dynamic model is available. Furthermore, the scheme allows free switching between tracking tasks and physical human-robot interaction (pHRI). The presented system can execute a wide array of pre-defined trajectories with varying patterns, adaptable to diverse needs. Moreover, the system can capture therapists' demonstrations, replaying them as many times as necessary. The effectiveness of the teleoperation system is experimentally evaluated and demonstrated.