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.


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    Titel :

    Using a Collaborative Robot to the Upper Limb Rehabilitation


    Weitere Titelangaben:

    Advs in Intelligent Syst., Computing


    Beteiligte:
    Silva, Manuel F. (Herausgeber:in) / Luís Lima, José (Herausgeber:in) / Reis, Luís Paulo (Herausgeber:in) / Sanfeliu, Alberto (Herausgeber:in) / Tardioli, Danilo (Herausgeber:in) / de Azevedo Fernandes, Lucas (Autor:in) / Lima, José Luis (Autor:in) / Leitão, Paulo (Autor:in) / Nakano, Alberto Yoshiro (Autor:in)

    Kongress:

    Iberian Robotics conference ; 2019 ; Porto, Portugal November 20, 2019 - November 22, 2019



    Erscheinungsdatum :

    20.11.2019


    Format / Umfang :

    12 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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