A novel stable teleoperation with haptic feedback by means of impedance adjustment via arbitrary time delay environment for rehabilitation

In this paper, a teleoperation mechanism capable of providing force feedback by means of adjusting the system's impedance is proposed for a master-slave telerehabilitation robot system. The stability of the teleoperation with haptic feedback via a time-delay communication environment is mathematically proved. By using the proposed teleoperation mechanism, the telerehabilitation system can work theoretically with both passive assisted movement and active assisted movement for the rehabilitation of upper limb function. Experiments with single DOF master-slave robot system show the effectiveness of the proposed mechanism.