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

Rafael J. Escarabajal*, Fares J. Abu-Dakka, Jose L. Pulloquinga, Vicente Mata, Marina Valles, Angel Valera

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

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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).

Original languageEnglish
Pages (from-to)30-44
Number of pages15
JournalMultidisciplinary journal for education social and technological sciences
Issue number2
Publication statusPublished - Oct 2020
MoE publication typeA1 Journal article-refereed


  • Parallel robot
  • rehabilitation robot
  • Dynamic Movement Primitives
  • position control
  • GAIT

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