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A 3-PRS parallel manipulator for ankle rehabilitation: towards a low-cost robotic rehabilitation

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A 3-PRS parallel manipulator for ankle rehabilitation: towards a low-cost robotic rehabilitation

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dc.contributor.author Vallés Miquel, Marina es_ES
dc.contributor.author Cazalilla, J. es_ES
dc.contributor.author Valera Fernández, Ángel es_ES
dc.contributor.author Mata Amela, Vicente es_ES
dc.contributor.author Page Del Pozo, Alvaro Felipe es_ES
dc.contributor.author Díaz Rodríguez, Miguel Ángel es_ES
dc.date.accessioned 2016-10-07T12:41:30Z
dc.date.available 2016-10-07T12:41:30Z
dc.date.issued 2015-03-13
dc.identifier.issn 0263-5747
dc.identifier.uri http://hdl.handle.net/10251/71403
dc.description.abstract This paper presents the design, kinematics, dynamics and control of a low-cost parallel rehabilitation robot developed at the Universitat Polit`ecnica de Valencia. Several position and force controllers have been tested to ensure accurate tracking performances. An orthopedic boot, equipped with a force sensor, has been placed over the platform of the parallel robot to perform exercises for injured ankles. Passive, active-assistive and active-resistive exercises have been implemented to train dorsi/plantar flexion, inversion and eversion ankle movements. In order to implement the controllers, the component-based middleware Orocos has been used with the advantage over other solutions that the whole scheme control can be implemented modularly. These modules are independent and can be configured and reconfigured in both configuration and runtime. This means that no specific knowledge is needed by medical staff, for example, to carry out rehabilitation exercises using this low-cost parallel robot. The integration between Orocos and ROS, with a CAD model displaying the actual position of the rehabilitation robot in real time, makes it possible to develop a teleoperation application. In addition, a teleoperated rehabilitation exercise can be performed by a specialist using a Wiimote (or any other Bluetooth device). es_ES
dc.description.sponsorship This work was partially financed by Plan Nacional de I+D, Comision Interministerial de Ciencia y Tecnologia (FEDER-CICYT) under the projects DPI2011-28507-C02-01 and DPI2013-44227-R. This research was also partially funded by the CDCHT-ULA Grant I-1377-13-02-F. en_EN
dc.language Inglés es_ES
dc.publisher Cambridge University Press es_ES
dc.relation FEDER-CICYT/DPI2011-28507-C02-01
dc.relation FEDER-CICYT/DPI2013-44227-R
dc.relation.ispartof Robotica es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Parallel robots es_ES
dc.subject Robot control es_ES
dc.subject Force control es_ES
dc.subject Motion control es_ES
dc.subject Rehabilitation robotics es_ES
dc.subject Control engineering computing es_ES
dc.subject.classification INGENIERIA MECANICA es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.subject.classification FISICA APLICADA es_ES
dc.title A 3-PRS parallel manipulator for ankle rehabilitation: towards a low-cost robotic rehabilitation es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1017/S0263574715000120
dc.rights.accessRights Cerrado 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.contributor.affiliation Universitat Politècnica de València. Centro de Investigación en Tecnología de Vehículos - Centre d'Investigació en Tecnologia de Vehicles 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. Departamento de Física Aplicada - Departament de Física Aplicada es_ES
dc.description.bibliographicCitation Vallés Miquel, M.; Cazalilla, J.; Valera Fernández, Á.; Mata Amela, V.; Page Del Pozo, AF.; Díaz Rodríguez, MÁ. (2015). A 3-PRS parallel manipulator for ankle rehabilitation: towards a low-cost robotic rehabilitation. Robotica. 669-683. doi:10.1017/S0263574715000120 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion http://dx.doi.org/10.1017/S0263574715000120 es_ES
dc.description.upvformatpinicio 669 es_ES
dc.description.upvformatpfin 683 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.relation.senia 305514 es_ES
dc.identifier.eissn 1469-8668
dc.contributor.funder Comisión Interministerial de Ciencia y Tecnología
dc.contributor.funder European Regional Development Fund


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