Development of lower-limb rehabilitation exercises using 3-PRS Parallel Robot and Dynamic Movement Primitives

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Journal ISSN
Volume Title
A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä
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Date
2020-10
Major/Subject
Mcode
Degree programme
Language
en
Pages
15
30-44
Series
Multidisciplinary journal for education social and technological sciences, Volume 7, issue 2
Abstract
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).
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Keywords
Parallel robot, rehabilitation robot, Dynamic Movement Primitives, position control, ANKLE, ADAPTATION, GAIT
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Citation
Escarabajal , R J , Abu-Dakka , F J , Pulloquinga , J L , Mata , V , Valles , M & Valera , A 2020 , ' Development of lower-limb rehabilitation exercises using 3-PRS Parallel Robot and Dynamic Movement Primitives ' , Multidisciplinary journal for education social and technological sciences , vol. 7 , no. 2 , pp. 30-44 . https://doi.org/10.4995/muse.2020.13907