Trajectory adaptation and learning for ankle rehabilitation using a 3-PRS parallel robot

Fares J. Abu-Dakk, A. Valera, J. A. Escalera, M. Vallés, V. Mata, M. Abderrahim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 (US)
Title of host publicationIntelligent Robotics and Applications - 8th International Conference, ICIRA 2015, Proceedings
EditorsHonghai Liu, Dalin Zhou, Naoyuki Kubota, Xiangyang Zhu, Rüdiger Dillmann
PublisherSpringer Verlag
Pages483-494
Number of pages12
ISBN (Print)9783319228754
DOIs
StatePublished - 2015
Event8th International Conference on Intelligent Robotics and Applications, ICIRA 2015 - Portsmouth, United Kingdom
Duration: Aug 24 2015Aug 27 2015

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9245
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference8th International Conference on Intelligent Robotics and Applications, ICIRA 2015
Country/TerritoryUnited Kingdom
CityPortsmouth
Period8/24/158/27/15

Keywords

  • Force control
  • Motion control
  • Parallel robots
  • Rehabilitation robots

ASJC Scopus subject areas

  • Theoretical Computer Science
  • General Computer Science

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