Trajectory Adaptation and Learning for Ankle Rehabilitation Using a 3-PRS Parallel Robot

Fares J. Abu-Dakka*, A. Valera, J. A. Escalera, M. Valles, V. Mata, Mohamed Abderrahim

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Abstract

This paper 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 movements. During exercises, forces may be high because patient cannot follow the desired trajectory. While small errors in the desired trajectory can cause important deviations in the desired forces, pure position control is inappropriate for tasks that require physical contact with the environment. The proposed algorithm takes as input the reference trajectory and force profile, then adapts the robot movement by introducing small offsets to the reference trajectory so that the resulting forces exerted by the patient match the reference profile. The learning procedure is based on Dynamic Movement Primitives (DMPs).

Original languageEnglish
Title of host publicationINTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2015), PT II
EditorsH Liu, N Kubota, Zhu, R Dillmann, D Zhou
PublisherSpringer-Verlag Berlin Heidelberg
Pages483-494
Number of pages12
ISBN (Print)978-3-319-22875-4
DOIs
Publication statusPublished - 2015
MoE publication typeA4 Article in a conference publication
EventInternational Conference on Intelligent Robotics and Applications - Portsmouth, United Kingdom
Duration: 24 Aug 201527 Aug 2015
Conference number: 8

Publication series

NameLecture Notes in Artificial Intelligence
PublisherSPRINGER-VERLAG BERLIN
Volume9245
ISSN (Print)0302-9743

Conference

ConferenceInternational Conference on Intelligent Robotics and Applications
Abbreviated titleICIRA
CountryUnited Kingdom
CityPortsmouth
Period24/08/201527/08/2015

Keywords

  • Parallel robots
  • Rehabilitation robots
  • Force control
  • Motion control
  • GAIT
  • KINEMATICS
  • TRAINER

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