M3RobPlataforma robotizada para la rehabilitación de muñeca. Aspectos de diseño y arquitectura de control
- Ana Cisnal 1
- Alonso-Linaje, Gonzalo 1
- Granja, Juan 1
- Veganzones, Miguel 1
- Pérez Turiel, Javier 1
- Fraile, Juan Carlos 1
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1
Universidad de Valladolid
info
- Ramón Costa Castelló (coord.)
- Manuel Gil Ortega (coord.)
- Óscar Reinoso García (coord.)
- Luis Enrique Montano Gella (coord.)
- Carlos Vilas Fernández (coord.)
- Elisabet Estévez Estévez (coord.)
- Eduardo Rocón de Lima (coord.)
- David Muñoz de la Peña Sequedo (coord.)
- José Manuel Andújar Márquez (coord.)
- Luis Payá Castelló (coord.)
- Alejandro Mosteo Chagoyen (coord.)
- Raúl Marín Prades (coord.)
- Vanesa Loureiro-Vázquez (coord.)
- Pedro Jesús Cabrera Santana (coord.)
Publisher: Servizo de Publicacións ; Universidade da Coruña
ISBN: 9788497498609
Year of publication: 2023
Pages: 29-34
Congress: Jornadas de Automática (44. 2023. Zaragoza)
Type: Conference paper
Abstract
Strokes are among the leading causes of neuromotor disability, primarily affecting the upper limb. In recent years, there have been advancements in the development of wrist rehabilitation robots that assist with pronation/supination, flexion/extension, and radial/ulnar deviation movements. However, the number of robots that address all three movements and incorporate a force sensor for active therapies is limited. The combined rehabilitation of these three movements through active therapies can significantly improve wrist functional recovery. To this end, a wrist rehabilitation robot has been developed that assists with all three movements and incorporates a force sensor in the handle. This robot utilizes closed-loop admittance control and has a reference trajectory, enabling the implementation of active-assistive therapies. Furthermore, the platform offers the possibility of conducting active therapies using virtual reality environments.