Development of lower-limb rehabilitation exercises using 3-PRS Parallel Robot and Dynamic Movement Primitives
The design of rehabilitation exercises applied to sprained ankles requires extreme caution, regarding the trajectories and the speed of the movements that will affect the patient. This paper presents a technique that allows a 3-PRS parallel robot to control such exercises, consisting of dorsi/planta...
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| Format: | Article |
| Language: | English |
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Universitat Politècnica de València
2020-10-01
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| Series: | Multidisciplinary Journal for Education, Social and Technological Sciences |
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| Online Access: | https://polipapers.upv.es/index.php/MUSE/article/view/13907 |
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| author | Rafael J. Escarabajal Fares J. Abu-Dakka José L. Pulloquinga Vicente Mata Marina Vallés Ángel Valera |
| author_facet | Rafael J. Escarabajal Fares J. Abu-Dakka José L. Pulloquinga Vicente Mata Marina Vallés Ángel Valera |
| author_sort | Rafael J. Escarabajal |
| collection | DOAJ |
| description | The design of rehabilitation exercises applied to sprained ankles requires extreme caution, regarding the trajectories and the speed of the movements that will affect the patient. This paper presents a technique that allows a 3-PRS parallel robot to control such exercises, consisting of dorsi/plantar flexion and inversion/eversion ankle movements. The work includes a position control scheme for the parallel robot in order to follow a reference trajectory for each limb with the possibility of stopping the exercise in mid-execution without control loss. This stop may be motivated by the forces that the robot applies to the patient, acting like an alarm mechanism. The procedure introduced here is based on Dynamic Movement Primitives (DMPs). |
| format | Article |
| id | doaj-art-cf71acc8887d437da3c72d683c6ad603 |
| institution | DOAJ |
| issn | 2341-2593 |
| language | English |
| publishDate | 2020-10-01 |
| publisher | Universitat Politècnica de València |
| record_format | Article |
| series | Multidisciplinary Journal for Education, Social and Technological Sciences |
| spelling | doaj-art-cf71acc8887d437da3c72d683c6ad6032025-08-20T02:50:48ZengUniversitat Politècnica de ValènciaMultidisciplinary Journal for Education, Social and Technological Sciences2341-25932020-10-0172304410.4995/muse.2020.139078292Development of lower-limb rehabilitation exercises using 3-PRS Parallel Robot and Dynamic Movement PrimitivesRafael J. Escarabajal0Fares J. Abu-Dakka1José L. Pulloquinga2Vicente Mata3Marina Vallés4Ángel Valera5Instituto de Automática e Informática Industrial, Universitat Politècnica de ValènciaDepartment of Electrical Engineering and Automation (EEA), Aalto University, Espoo, FinlandInstituto de Automática e Informática Industrial, Universitat Politècnica de ValènciaCentro de investigación de Ingeniería Mecánica (CIIM), Universitat Politècnica de ValènciaInstituto de Automática e Informática Industrial, Universitat Politècnica de ValènciaInstituto de Automática e Informática Industrial, Universitat Politècnica de ValènciaThe design of rehabilitation exercises applied to sprained ankles requires extreme caution, regarding the trajectories and the speed of the movements that will affect the patient. This paper presents a technique that allows a 3-PRS parallel robot to control such exercises, consisting of dorsi/plantar flexion and inversion/eversion ankle movements. The work includes a position control scheme for the parallel robot in order to follow a reference trajectory for each limb with the possibility of stopping the exercise in mid-execution without control loss. This stop may be motivated by the forces that the robot applies to the patient, acting like an alarm mechanism. The procedure introduced here is based on Dynamic Movement Primitives (DMPs).https://polipapers.upv.es/index.php/MUSE/article/view/13907parallel robotrehabilitation robotdynamic movement primitivesposition control |
| spellingShingle | Rafael J. Escarabajal Fares J. Abu-Dakka José L. Pulloquinga Vicente Mata Marina Vallés Ángel Valera Development of lower-limb rehabilitation exercises using 3-PRS Parallel Robot and Dynamic Movement Primitives Multidisciplinary Journal for Education, Social and Technological Sciences parallel robot rehabilitation robot dynamic movement primitives position control |
| title | Development of lower-limb rehabilitation exercises using 3-PRS Parallel Robot and Dynamic Movement Primitives |
| title_full | Development of lower-limb rehabilitation exercises using 3-PRS Parallel Robot and Dynamic Movement Primitives |
| title_fullStr | Development of lower-limb rehabilitation exercises using 3-PRS Parallel Robot and Dynamic Movement Primitives |
| title_full_unstemmed | Development of lower-limb rehabilitation exercises using 3-PRS Parallel Robot and Dynamic Movement Primitives |
| title_short | Development of lower-limb rehabilitation exercises using 3-PRS Parallel Robot and Dynamic Movement Primitives |
| title_sort | development of lower limb rehabilitation exercises using 3 prs parallel robot and dynamic movement primitives |
| topic | parallel robot rehabilitation robot dynamic movement primitives position control |
| url | https://polipapers.upv.es/index.php/MUSE/article/view/13907 |
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