@inproceedings{83776737eb9e4480ba020505ccc62c39,
title = "Trajectory adaptation and learning for ankle rehabilitation using a 3-PRS parallel robot",
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).",
keywords = "Force control, Motion control, Parallel robots, Rehabilitation robots",
author = "Abu-Dakk, {Fares J.} and A. Valera and Escalera, {J. A.} and M. Vall{\'e}s and V. Mata and M. Abderrahim",
note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2015.; 8th International Conference on Intelligent Robotics and Applications, ICIRA 2015 ; Conference date: 24-08-2015 Through 27-08-2015",
year = "2015",
doi = "10.1007/978-3-319-22876-1_41",
language = "English (US)",
isbn = "9783319228754",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "483--494",
editor = "Honghai Liu and Dalin Zhou and Naoyuki Kubota and Xiangyang Zhu and R{\"u}diger Dillmann",
booktitle = "Intelligent Robotics and Applications - 8th International Conference, ICIRA 2015, Proceedings",
}