2024/01/17 by José L. Pulloquinga, Pulloquinga, Jose L., Rafael J. Escarabajal +9
Engineering · Medicine · #FOS: Computer and information sciences #FOS: Electrical engineering #Muscle activation and electromyography studies #Prosthetics and Rehabilitation Robotics #Robotics (cs.RO) #Stroke Rehabilitation and Recovery #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2401.09132
openalex publication_date 2024/01/17 · openalex created_date 2024/01/19 · openalex updated_date 2026/07/28
Rehabilitation tasks demand robust and accurate trajectory-tracking performance, mainly achieved with parallel robots. In this field, limiting the value of the force exerted on the patient is crucial, especially when an injured limb is involved. In human-robot interaction studies, the admittance controller modifies the location of the robot according to the user efforts driving the end-effector to an arbitrary location within the workspace. However, a parallel robot has singularities within the workspace, making implementing a conventional admittance controller unsafe. Thus, this study proposes an admittance controller that overcomes the limitations of singular configurations by using a real-time singularity avoidance algorithm. The singularity avoidance algorithm modifies the original trajectory based on the actual location of the parallel robot. The complemented admittance controller is applied to a 4 degrees of freedom parallel robot for knee rehabilitation. In this case, the actual location is measured by a 3D tracking system because the location calculated by the forward kinematics is inaccurate in the vicinity of a singularity. The experimental results verify the effectiveness of the proposed admittance controller for safe knee rehabilitation exercises