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

Rafael J. Escarabajal; Fares J. Abu-Dakka; José L. Pulloquinga; Vicente Mata; Marina Vallés; Ángel Valera

doi:10.4995/muse.2020.13907

Authors

Rafael J. Escarabajal Universitat Politècnica de València https://orcid.org/0000-0001-6535-9098
Fares J. Abu-Dakka Aalto University https://orcid.org/0000-0001-9062-9416
José L. Pulloquinga Universitat Politècnica de València https://orcid.org/0000-0003-0403-4593
Vicente Mata Universitat Politècnica de València https://orcid.org/0000-0003-2255-0567
Marina Vallés Universitat Politècnica de València https://orcid.org/0000-0002-6396-0098
Ángel Valera Universitat Politècnica de València https://orcid.org/0000-0001-6843-6394

DOI:

https://doi.org/10.4995/muse.2020.13907

Keywords:

Parallel robot, rehabilitation robot, Dynamic Movement Primitives, position control

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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Author Biographies

Rafael J. Escarabajal, Universitat Politècnica de València

Instituto de Automática e Informática Industrial

Fares J. Abu-Dakka, Aalto University

Department of Electrical Engineering and Automation (EEA)

José L. Pulloquinga, Universitat Politècnica de València

Instituto de Automática e Informática Industrial

Vicente Mata, Universitat Politècnica de València

Centro de investigación de Ingeniería Mecánica (CIIM)

Marina Vallés, Universitat Politècnica de València

Instituto de Automática e Informática Industrial

Ángel Valera, Universitat Politècnica de València

Instituto de Automática e Informática Industrial

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