Abstract
This work presents an innovative rehabilitation device called Universal Haptic Pantograph (UHP). This robot, thanks to its multi-configurable structure allows the rehabilitation of all joints of the upper limb with a single mechanical device. In addition, it has been designed with the ability to perform different assistive and resistive tasks, allowing its adaptation to the recovery status of the patient. Finally, a support software, the Telereha generates a virtual reality environment, facilitating the execution of the exercise, while increasing the motivation of the patient. For the correct execution of the rehabilitation tasks the proposed algorithms have been implemented in real time. Also, different experimental tests have been carried out. Observing the results, it is concluded that the UHP rehabilitation robot works correctly with different rehabilitation tasks.
| Translated title of the contribution | Multifunctional robotic device for the rehabilitation of the upper limbs |
|---|---|
| Original language | Spanish |
| Pages (from-to) | 180-191 |
| Number of pages | 12 |
| Journal | RIAI - Revista Iberoamericana de Automatica e Informatica Industrial |
| Volume | 15 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 2018 |
Keywords
- Assistive tasks
- Experimental validation
- Impedance control
- Implementation
- Rehabilitation robots
- Rehabilitation software
- Resistive tasks
- Upper limb rehabilitation
Project and Funding Information
- Funding Info
- Este trabajo ha sido parcialmente financiado por el Ministerio de Economía y Competitividad MINECO & FEDER en el marco del proyecto DPI-2012-32882, así como por las becas PRE-2014-1-152 del Gobierno Vasco y BES-2013-066142 del Ministerio de Economía y Competitividad, el proyecto IT914- 16 del Gobierno Vasco, el proyecto PPG17/56 de la UPV/EHU, por Euskampus Fundazioa, por FIK y por el Ministerio de Ciencia e Innovación en el marco del proyecto PDI-020100-2009- 21.