A Real Framework to Apply Collaborative Robots in Upper Limb Rehabilitation

Lucas Fernandes, Thadeu Brito, Luis Piardi, José Lima, Paulo Leitão

Abstract

Rehabilitation is an important recovery process from dysfunctions that improves the patient’s activities of daily living. On the other hand, collaborative robotic applications, where humans and machines can share the same space, are increasing once it allows splitting a task between the accuracy of a robot and the ability and flexibility of a human. This paper describes an innovative approach that uses a collaborative robot to support the rehabilitation of the upper limb of patients, complemented by an intelligent system that learns and adapts its behaviour according to the patient’s performance during the therapy. This intelligent system implements the reinforcement learning algorithm, which makes the system robust and independent of the path of motion. The validation of the proposed approach uses a UR3 collaborative robot training in a real environment. The main control is the resistance force that the robot is able to do against the movement performed by the human arm.

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Paper Citation


in Harvard Style

Fernandes L., Brito T., Piardi L., Lima J. and Leitão P. (2020). A Real Framework to Apply Collaborative Robots in Upper Limb Rehabilitation.In Proceedings of the 13th International Joint Conference on Biomedical Engineering Systems and Technologies - Volume 1: BIODEVICES, ISBN 978-989-758-398-8, pages 176-183. DOI: 10.5220/0009004501760183


in Bibtex Style

@conference{biodevices20,
author={Lucas Fernandes and Thadeu Brito and Luis Piardi and José Lima and Paulo Leitão},
title={A Real Framework to Apply Collaborative Robots in Upper Limb Rehabilitation},
booktitle={Proceedings of the 13th International Joint Conference on Biomedical Engineering Systems and Technologies - Volume 1: BIODEVICES,},
year={2020},
pages={176-183},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009004501760183},
isbn={978-989-758-398-8},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 13th International Joint Conference on Biomedical Engineering Systems and Technologies - Volume 1: BIODEVICES,
TI - A Real Framework to Apply Collaborative Robots in Upper Limb Rehabilitation
SN - 978-989-758-398-8
AU - Fernandes L.
AU - Brito T.
AU - Piardi L.
AU - Lima J.
AU - Leitão P.
PY - 2020
SP - 176
EP - 183
DO - 10.5220/0009004501760183