A5027019819- Teleoperation and Haptic Systems
- Stroke Rehabilitation and Recovery
- Virtual Reality Applications and Impacts
- Prosthetics and Rehabilitation Robotics
- Acute Ischemic Stroke Management
- Geophysics and Sensor Technology
- Soft Robotics and Applications
- Botulinum Toxin and Related Neurological Disorders
- Muscle activation and electromyography studies
- Robotic Path Planning Algorithms
- Cerebral Palsy and Movement Disorders
- Assistive Technology in Communication and Mobility
- Modular Robots and Swarm Intelligence
- Tactile and Sensory Interactions
- Human-Automation Interaction and Safety
- Robotic Mechanisms and Dynamics
Queen's University
2021-2025
Dalhousie University
2016-2024
Objective The design of at-home stroke rehabilitation robots must be closely linked to the needs users, especially survivors and therapists, ensure that such designs are effective in home environment, which is less controlled than clinical environments. Translating user into technical descriptors a essential this process. This paper analyses identified from interviews with therapists previous work.
This study investigated the needs of stroke survivors and therapists, how they may contrast, for design robots at-home post rehabilitation therapy, in Ontario, Canada, context.Individual interviews were conducted with (n = 10) therapists 6). The transcripts coded using thematic analysis inspired by WHO International Classification Functioning, Disability, Health.Design recommendations, potential features, barriers identified from interviews. Stroke agreed on many robotic rehabilitation;...
Multilateral teleoperation systems, which are extended from the traditional bilateral teleoperation, have become subject to increasing attention in current years, with industrial requirements, such as remote operation of larger objects and more complex tasks. In this paper, a general multilateral control problem is discussed, n masters remotely slaves through delayed communication channels. A novel structure proposed satisfy multiple master–slave requirement, weighting coefficients chosen...
Bilateral teleoperation systems have been extensively developed over decades. Communication delay is one of the most challenging control design problems. Additionally, nonlinearity, parameter variation, and uncertainty in environment dynamics robot model are also issues that should be taken into account for excellent performance. In our work, we propose a globally stable non-linear adaptive robust structure proposed, dealing with following Firstly, this new can tolerate arbitrary, long,...
The realism or transparency of haptic interfaces is becoming more critical as they are applied to training in fields like minimally invasive surgery (MIS). Surgical simulators must provide a transparent virtual environment (VE) at high update rate. Complex, deformable, cuttable tissue models have nonlinear dynamics and computationally expensive, making it difficult sufficient rates. objective this work improve the for type VE by formulating unknown quasi-linear parameter varying (LPV) system...
Haptic systems in surgical training applications require highly accurate force feedback. However, high-resolution models of the virtual environment (VE) can be very computationally intensive, lowering feedback update rate. The objective this work is to improve transparency by developing a predictor that approximates complex nonlinear VE as linear with much higher By using from more but slower VE, provide increased operator. full control design and haptic controller considered for device....
Often the design of control systems for telerobotic rehabilitation focuses on maintaining stability and maximizing transparency, but does not consider intent therapeutic interactions. When therapists assist patients during therapy activities, they tailor amount assistance guidance delivered so that patient engages fully in therapy. Existing deliver delayed therapist force to patient, making only minimal changes as necessary maintain stability. However, communication time delays can distort...