Diseño e implementación de algoritmos de control de fuerza para un robot de rehabilitación de miembro superior
- J.V. García-Pérez 1
- A. Blanco 1
- J.M. Catalán 1
- S. Ezquerro 1
- J. Álvarez-Pastor 1
- M. Arnau-Papí 1
- N. Garcia-Aracil 1
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1
Universidad Miguel Hernández de Elche
info
Publisher: Universitat Jaume I ; Servizo de Publicacións ; Universidade da Coruña ; Comité Español de Automática
ISBN: 978-84-9749-804-3
Year of publication: 2021
Pages: 515-520
Congress: Jornadas de Automática (42. 2021. Castellón)
Type: Conference paper
Abstract
The aging of population will increase the incidence of age-related diseases, such as strokes. Robotic devices have proven their effectiveness in rehabilitation therapies for people who have a lack of mobility due to these diseases. There are many different systems to control the robot-human interaction in this type of therapies. This article proposes the use of force potential fields in a robotic upper-limb rehabilitation device for stroke patients. In the first part of the article the formulation of the force potential fields is shown and the robotic device used for the study is presented. Finally, an experimentation with healthy subjects is proposed to check the validity of this control strategy. The results show a decrease in the error in the subjects’movements and open the door to further tests with real patients.