期刊名称：Multidisciplinary Journal for Education, Social and Technological Sciences
印刷版ISSN：2341-2593
出版年度：2020
卷号：7
期号：2
页码：30-44
DOI：10.4995/muse.2020.13907
出版社：Editorial UPV
摘要：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).
关键词：Parallel robot, rehabilitation robot, Dynamic Movement Primitives, position control
