Vallés Miquel, Marina; Cazalilla, J.; Valera Fernández, Ángel; Mata Amela, Vicente; Page Del Pozo, Alvaro Felipe; Díaz Rodríguez, Miguel Ángel(Cambridge University Press, 2015-03-13)
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 ...
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 ...
Yime, Eugenio; Saltarén, Roque Jacinto; Roldán Mckinley, Javier Agustin(Universitat Politècnica de València, 2023-09-29)
[EN] The kinematics and dynamics of parallel mechanisms is a field of research where mechanisms analysis are traditionally carried out using the screw theory. In this article an alternative approach based on group theory ...
Ferrándiz Alarcón, Jesús(Universitat Politècnica de València, 2021-10-19)
[ES] Con el presente trabajo se pretende llevar a cabo el desarrollo de controladores usando una arquitectura modular basada en software libre de código abierto. Para ello en la controladora se ejecutará el sistema operativo ...
ABU DAKKA, FARES JAWAD MOH D(Universitat Politècnica de València, 2016-03-14)
[EN] This work presents a methodology for learning and adaptation of a 3-PRS parallel robot skills for ankle rehabilitation. Passive exercises have been designed to train dorsi/plantar flexion, inversion/eversion ankle ...
[EN] The need of a device providing two-translational and two-rotational movements led us to design a 3UPS-1RPU parallel manipulator. The manipulator consisted of a mobile platform connected to a base through one central ...
Díaz-Rodríguez, Miguel; Valera Fernández, Ángel; Mata Amela, Vicente; Vallés Miquel, Marina(Institute of Electrical and Electronics Engineers (IEEE), 2013-12)
This paper presents in detail how to model, identify, and control a 3-DOF prismatics-revolute-spherical parallel manipulator in terms of relevant parameters. A reduced model based on a set of relevant parameters is obtained ...
Abu-Dakka, Fares J.; Valera Fernández, Ángel; Escalera, Juan A.; Abderrahim, Mohamed; Page Del Pozo, Alvaro Felipe; Mata Amela, Vicente(MDPI AG, 2020-11)
[EN] Ankle injuries are among the most common injuries in sport and daily life. However, for their recovery, it is important for patients to perform rehabilitation exercises. These exercises are usually done with a therapist's ...
Aracil, Rafael; Saltarén, Roque J.; Sabater, José Mª; Reinoso, Óscar(Universitat Politècnica de València, 2010-09-27)
[ES] Este artculo presenta una vision general de los Robots de estructura Paralela, destacando sus caractersticas diferenciales frente a los conocidos robots de cadena cinematica abierta. El artculo trata de servir de guía ...