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

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

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dc.contributor.author Escarabajal Sánchez, Rafael José es_ES
dc.contributor.author Abu Dakka, Fares Jawad Mohd es_ES
dc.contributor.author Pulloquinga Zapata, José es_ES
dc.contributor.author Mata Amela, Vicente es_ES
dc.contributor.author Vallés Miquel, Marina es_ES
dc.contributor.author Valera Fernández, Ángel es_ES
dc.date.accessioned 2020-10-19T12:00:52Z
dc.date.available 2020-10-19T12:00:52Z
dc.date.issued 2020-10-06
dc.identifier.uri http://hdl.handle.net/10251/152316
dc.description.abstract [EN] 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). es_ES
dc.description.sponsorship This work has been partially funded by FEDER-CICYT project with reference DPI2017-84201-R financed by Ministerio de Economía, Industria e Innovación (Spain). es_ES
dc.language Inglés es_ES
dc.publisher Universitat Politècnica de València es_ES
dc.relation.ispartof Multidisciplinary Journal for Education, Social and Technological Sciences es_ES
dc.rights Reconocimiento - No comercial - Sin obra derivada (by-nc-nd) es_ES
dc.subject Parallel robot es_ES
dc.subject Rehabilitation robot es_ES
dc.subject Dynamic Movement Primitives es_ES
dc.subject Position control es_ES
dc.title Development of lower-limb rehabilitation exercises using 3-PRS Parallel Robot and Dynamic Movement Primitives es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.4995/muse.2020.13907
dc.relation.projectID info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-84201-R/ES/INTEGRACION DE MODELOS BIOMECANICOS EN EL DESARROLLO Y OPERACION DE ROBOTS REHABILITADORES RECONFIGURABLES/ es_ES
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Instituto Universitario de Automática e Informática Industrial - Institut Universitari d'Automàtica i Informàtica Industrial es_ES
dc.contributor.affiliation Universitat Politècnica de València. Escola Tècnica Superior d'Enginyeria Informàtica es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials es_ES
dc.contributor.affiliation Universitat Politècnica de València. Escuela Técnica Superior de Ingeniería del Diseño - Escola Tècnica Superior d'Enginyeria del Disseny es_ES
dc.contributor.affiliation Universitat Politècnica de València. Escuela Técnica Superior de Ingenieros Industriales - Escola Tècnica Superior d'Enginyers Industrials es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.description.bibliographicCitation Escarabajal Sánchez, RJ.; Abu Dakka, FJM.; Pulloquinga Zapata, J.; Mata Amela, V.; Vallés Miquel, M.; Valera Fernández, Á. (2020). Development of lower-limb rehabilitation exercises using 3-PRS Parallel Robot and Dynamic Movement Primitives. Multidisciplinary Journal for Education, Social and Technological Sciences. 7(2):30-44. https://doi.org/10.4995/muse.2020.13907 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.4995/muse.2020.13907 es_ES
dc.description.upvformatpinicio 30 es_ES
dc.description.upvformatpfin 44 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 7 es_ES
dc.description.issue 2 es_ES
dc.identifier.eissn 2341-2593
dc.relation.pasarela OJS\13907 es_ES
dc.contributor.funder European Regional Development Fund es_ES
dc.contributor.funder Agencia Estatal de Investigación es_ES
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