Development of lower-limb rehabilitation exercises using 3-PRS Parallel Robot and Dynamic Movement Primitives




Parallel robot, rehabilitation robot, Dynamic Movement Primitives, position control


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).


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Author Biographies

Rafael J. Escarabajal, Universitat Politècnica de València

Instituto de Automática e Informática Industrial

Fares J. Abu-Dakka, Aalto University

Department of Electrical Engineering and Automation (EEA)

José L. Pulloquinga, Universitat Politècnica de València

Instituto de Automática e Informática Industrial

Vicente Mata, Universitat Politècnica de València

Centro de investigación de Ingeniería Mecánica (CIIM)

Marina Vallés, Universitat Politècnica de València

Instituto de Automática e Informática Industrial

Ángel Valera, Universitat Politècnica de València

Instituto de Automática e Informática Industrial


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How to Cite

Escarabajal, R. J., Abu-Dakka, F. J., Pulloquinga, J. L., Mata, V., Vallés, M., & Valera, Ángel. (2020). Development of lower-limb rehabilitation exercises using 3-PRS Parallel Robot and Dynamic Movement Primitives. Multidisciplinary Journal for Education, Social and Technological Sciences, 7(2), 30–44.