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Bilateral Tele-Rehabilitation Control System Using Electrical Stimulation for Therapist and Patient

机译：双侧远程康复控制系统，用于治疗师和患者的电气刺激

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This paper considers a bilateral tele-rehabilitation control system by using an electrical stimulation. The therapist rehabilitates the patient who is far away from the therapist by using the electrical stimulation. The therapist also feels the reaction force which indicates the motion error between the therapist and the patient by utilizing the electrical stimulation. In previous our research, the haptic device has been used to feel the reaction force for the therapist. This paper uses the mechanical device only to constrict the range of motion of the therapist. The reaction force can be felt by means of the electrical stimulation. To detect the force which is provided by the therapist, the force sensor which is set on the haptic device is used in previous our works. This paper proposes to utilize the control input of the therapist and the velocity of the mechanical device to estimate the force provided by the therapist. First, the bilateral tele-rehabilitation control system with the modified force detection is proposed. The scattering matrix method as a stabilizing method for the time delay is applied, the stability condition is indicated. Next, the experimental equipment and the experimental result that the therapist’s arm and the patient’s knee joint are controlled are indicated. The stability and the control performance are verified from the experimental result.
机译：本文通过使用电刺激来考虑双边远程康复控制系统。治疗师通过使用电刺激来恢复远离治疗师的患者。通过利用电刺激，治疗师也感觉到治疗师和患者之间的运动误差。在过去我们的研究中，触觉装置已被用来感受治疗师的反作用力。本文仅使用机械装置来限制治疗师的运动范围。通过电刺激可以感受到反作用力。为了检测由治疗师提供的力，在我们的作品之前使用在触觉装置上设置的力传感器。本文提出了利用治疗师的控制输入和机械装置的速度来估计由治疗师提供的力。首先，提出了具有改进的力检测的双侧远程康复控制系统。施加了散射矩阵方法作为稳定方法，施加稳定性条件。接下来，指示了治疗师臂和患者膝关节的实验设备和实验结果。从实验结果验证了稳定性和控制性能。

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