Single link bilateral haptics control with PD controller and geared DC-motor in robotic rehabilitation technology

This paper presents a primary results in bilateral control as a human machine interaction. The purposed method of the research is to develop a system that synchronize two systems by copy the position and the force of a system and implement in the other. The bilateral controller will be applied in rehabilitation robot. In previous researches, the rehabilitation robots is designed using trajectories of walking which limit the robot to single way of motion. The control system contains PD controller and master and slave teleoperation system, four channel control architecture, disturbance observer DOB and reaction force observer RFOB. The master manipulator is attached to human operator. The slave manipulator is attached to a patient. The slave system will produce similar motion as the master manipulator with the same position and force. The paper shows the methodology followed to implement the system as well as the hardware and the results.