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A 3-PRS parallel manipulator for ankle rehabilitation: towards a low-cost robotic rehabilitation

Published online by Cambridge University Press:  13 March 2015

Marina Vallés ,
José Cazalilla ,
Ángel Valera ,
Vicente Mata ,
Álvaro Page  and
Miguel Díaz-Rodríguez
Marina Vallés
Affiliation:
Departamento de Ingeniería de Sistemas y Automática, Universidad Politécnica de Valencia, Valencia 46022, Spain (e-mail: jcazalilla@ai2.upv.es, mvalles@ai2.upv.es).
José Cazalilla
Affiliation:
Departamento de Ingeniería de Sistemas y Automática, Universidad Politécnica de Valencia, Valencia 46022, Spain (e-mail: jcazalilla@ai2.upv.es, mvalles@ai2.upv.es).
Ángel Valera*
Affiliation:
Departamento de Ingeniería de Sistemas y Automática, Universidad Politécnica de Valencia, Valencia 46022, Spain (e-mail: jcazalilla@ai2.upv.es, mvalles@ai2.upv.es).
Vicente Mata
Affiliation:
Centro de Investigación de Tecnología de Vehículos, Universidad Politécnica de Valencia, Valencia 46022, Spain (e-mail: vmata@mcm.upv.es).
Álvaro Page
Affiliation:
Departamento de Física Aplicada, Universidad Politécnica de Valencia, Valencia 46022, Spain (e-mail: alvaro.page@ibv.upv.es).
Miguel Díaz-Rodríguez
Affiliation:
Departamento de Tecnología y Diseño, Facultad de Ingeniería, Universidad de los Andes, Mérida 5101, Venezuela (e-mail: dmiguel@ula.ve).
*
*Corresponding author. E-mail: giuprog@ai2.upv.es
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Summary

This paper presents the design, kinematics, dynamics and control of a low-cost parallel rehabilitation robot developed at the Universitat Politècnica de Valencia. Several position and force controllers have been tested to ensure accurate tracking performances. An orthopedic boot, equipped with a force sensor, has been placed over the platform of the parallel robot to perform exercises for injured ankles. Passive, active-assistive and active-resistive exercises have been implemented to train dorsi/plantar flexion, inversion and eversion ankle movements. In order to implement the controllers, the component-based middleware Orocos has been used with the advantage over other solutions that the whole scheme control can be implemented modularly. These modules are independent and can be configured and reconfigured in both configuration and runtime. This means that no specific knowledge is needed by medical staff, for example, to carry out rehabilitation exercises using this low-cost parallel robot. The integration between Orocos and ROS, with a CAD model displaying the actual position of the rehabilitation robot in real time, makes it possible to develop a teleoperation application. In addition, a teleoperated rehabilitation exercise can be performed by a specialist using a Wiimote (or any other Bluetooth device).

Keywords

Parallel robotsRobot controlForce controlMotion controlRehabilitation roboticsControl engineering computing
Type
Articles
Information
Robotica , Volume 35 , Issue 10 , October 2017 , pp. 1939 - 1957
Copyright
Copyright © Cambridge University Press 2015 

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