Pulloquinga-Zapata, José; Escarabajal-Sánchez, Rafael José; Valera Fernández, Ángel; Vallés Miquel, Marina; Mata Amela, Vicente(Elsevier, 2023-05)
[EN] Parallel robots (PRs) are closed-chain manipulators with diverse applications due to their accuracy and high payload. However, there are configurations within the workspace named Type II singularities where the PRs ...
Pulloquinga-Zapata, José Luis; Escarabajal-Sánchez, Rafael José; Vallés Miquel, Marina; Díaz-Rodríguez, Miguel; Mata Amela, Vicente; Valera Fernández, Ángel(Elsevier, 2023-10)
[EN] Rehabilitation tasks demand robust and accurate trajectory-tracking performance, mainly achieved with parallel robots. In this field, limiting the value of the force exerted on the patient is crucial, especially when ...
Escarabajal-Sánchez, Rafael José; Pulloquinga-Zapata, José; Valera Fernández, Ángel; Mata Amela, Vicente; Vallés Miquel, Marina; Castillo-García, Fernando J.(Institute of Electrical and Electronics Engineers, 2023-06)
[EN] This article addresses a new way of generating compliant trajectories for control using movement primitives to allow physical human-robot interaction where parallel robots (PRs) are involved. PRs are suitable for tasks ...
Escarabajal-Sánchez, Rafael José; Pulloquinga-Zapata, José; Zamora-Ortiz, Pau; Valera Fernández, Ángel; Mata Amela, Vicente; Vallés Miquel, Marina(Institute of Electrical and Electronics Engineers, 2023-07)
[EN] The development of robotic-assisted rehabilitation exercises involving physical human-robot interaction requires extreme care since an injured limb may be in physical contact with the robot, so compliant behavior is ...
Escarabajal-Sánchez, Rafael José; Pulloquinga-Zapata, José Luis; Mata Amela, Vicente; Valera Fernández, Ángel; Díaz-Rodríguez, Miguel(MDPI AG, 2023-03)
[EN] Parallel robots are being increasingly used as a fundamental component of lower-limb rehabilitation systems. During rehabilitation therapies, the parallel robot must interact with the patient, which raises several ...