A real framework to apply collaborative robots in upper limb rehabilitation

Fernandes, Lucas de Azevedo; Brito, Thadeu; Piardi, Luis; Lima, José; Leitão, Paulo

Publication

A real framework to apply collaborative robots in upper limb rehabilitation

2020Conference paper

dc.contributor.author	Fernandes, Lucas de Azevedo
dc.contributor.author	Brito, Thadeu
dc.contributor.author	Piardi, Luis
dc.contributor.author	Lima, José
dc.contributor.author	Leitão, Paulo
dc.date.accessioned	2023-03-15T14:41:36Z
dc.date.available	2023-03-15T14:41:36Z
dc.date.issued	2020
dc.description.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.	pt_PT
dc.description.version	info:eu-repo/semantics/publishedVersion	pt_PT
dc.identifier.citation	Fernandes, Lucas; Brito, Thadeu; Piardi, Luis; Lima, José; Leitão, Paulo (2020). A real framework to apply collaborative robots in upper limb rehabilitation. In 13th International Conference on Biomedical Electronics and Devices, BIODEVICES 2020. Valletta	pt_PT
dc.identifier.doi	10.5220/0009004501760183	pt_PT
dc.identifier.uri	http://hdl.handle.net/10198/27744
dc.language.iso	eng	pt_PT
dc.peerreviewed	yes	pt_PT
dc.publisher	Scitepress	pt_PT
dc.rights.uri	http://creativecommons.org/licenses/by/4.0/	pt_PT
dc.subject	Robotics rehabilitation	pt_PT
dc.subject	Collaborative robots	pt_PT
dc.subject	Reinforcement learning	pt_PT
dc.subject	Human–robot Interaction	pt_PT
dc.title	A real framework to apply collaborative robots in upper limb rehabilitation	pt_PT
dc.type	conference paper
dspace.entity.type	Publication
oaire.citation.conferencePlace	Valletta	pt_PT
oaire.citation.endPage	183	pt_PT
oaire.citation.startPage	176	pt_PT
oaire.citation.title	13th International Conference on Biomedical Electronics and Devices, BIODEVICES 2020	pt_PT
person.familyName	Brito
person.familyName	Piardi
person.familyName	Lima
person.familyName	Leitão
person.givenName	Thadeu
person.givenName	Luís
person.givenName	José
person.givenName	Paulo
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person.identifier.scopus-author-id	35584388900
rcaap.rights	restrictedAccess	pt_PT
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