Publication
Using a collaborative robot to the upper limb rehabilitation
| dc.contributor.author | Fernandes, Lucas de Azevedo | |
| dc.contributor.author | Lima, José | |
| dc.contributor.author | Leitão, Paulo | |
| dc.contributor.author | Nakano, Alberto Yoshiro | |
| dc.date.accessioned | 2020-03-13T15:20:54Z | |
| dc.date.available | 2020-03-13T15:20:54Z | |
| dc.date.issued | 2020 | |
| dc.description.abstract | Rehabilitation is a relevant process for the recovery from dysfunctions and improves the realization of patient's Activities of Daily Living (ADLs). Robotic systems are considered an important field within the development of physical rehabilitation, thus allowing the collection of several data, besides performing exercises with intensity and repeatedly. This paper addresses the use of a collaborative robot applied in the rehabilitation field to help the physiotherapy of upper limb of patients, specifically shoulder. To perform the movements with any patient the system must learn to behave to each of them. In this sense, the Reinforcement Learning (RL) algorithm makes the system robust and independent of the path of motion. To test this approach, it is proposed a simulation with a UR3 robot implemented in V-REP platform. The main control variable is the resistance force that the robot is able to do against the movement performed by the human arm. | pt_PT |
| dc.description.version | info:eu-repo/semantics/publishedVersion | pt_PT |
| dc.identifier.citation | Fernandes, Lucas de Azevedo; Lima, José; Leitão, Paulo; Nakano, Alberto Yoshiro (2020). Using a collaborative robot to the upper limb rehabilitation. In 4th Iberian Robotics Conference, ROBOT 2019; Porto. p. 429-440. ISBN 978-3-030-35989-8 | pt_PT |
| dc.identifier.doi | 10.1007/978-3-030-36150-1_35 | pt_PT |
| dc.identifier.isbn | 978-3-030-35989-8 | |
| dc.identifier.uri | http://hdl.handle.net/10198/20982 | |
| dc.language.iso | eng | pt_PT |
| dc.peerreviewed | yes | pt_PT |
| dc.rights.uri | http://creativecommons.org/licenses/by-nc/4.0/ | pt_PT |
| dc.subject | Robotics rehabilitation | pt_PT |
| dc.subject | Collaborative robots | pt_PT |
| dc.subject | Simulation | pt_PT |
| dc.subject | Reinforcement learning algorithm | pt_PT |
| dc.title | Using a collaborative robot to the upper limb rehabilitation | pt_PT |
| dc.type | conference paper | |
| dspace.entity.type | Publication | |
| oaire.citation.conferencePlace | Porto | pt_PT |
| oaire.citation.endPage | 440 | pt_PT |
| oaire.citation.startPage | 429 | pt_PT |
| oaire.citation.title | 4th Iberian Robotics Conference, ROBOT 2019 | pt_PT |
| oaire.citation.volume | 1093 | pt_PT |
| person.familyName | Lima | |
| person.familyName | Leitão | |
| person.givenName | José | |
| person.givenName | Paulo | |
| person.identifier | R-000-8GD | |
| person.identifier | A-8390-2011 | |
| person.identifier.ciencia-id | 6016-C902-86A9 | |
| person.identifier.ciencia-id | 8316-8F13-DA71 | |
| person.identifier.orcid | 0000-0001-7902-1207 | |
| person.identifier.orcid | 0000-0002-2151-7944 | |
| person.identifier.rid | L-3370-2014 | |
| person.identifier.scopus-author-id | 55851941311 | |
| person.identifier.scopus-author-id | 35584388900 | |
| rcaap.rights | openAccess | pt_PT |
| rcaap.type | conferenceObject | pt_PT |
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