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Iberian Robotics conference

ROBOT 2019: Robot 2019: Fourth Iberian Robotics Conference pp 429–440Cite as

Using a Collaborative Robot to the Upper Limb Rehabilitation

Part of the Advances in Intelligent Systems and Computing book series (AISC,volume 1093)

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.

Keywords

  • Robotics rehabilitation
  • Collaborative robots
  • Simulation
  • Reinforcement learning algorithm

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Author information

Affiliations

  1. Universidade Tecnológica Ferderal do Paraná, Curitiba, Paraná, Brazil

    Lucas de Azevedo Fernandes & Alberto Yoshiro Nakano

  2. CeDRI - Research Centre in Digitalization and Intelligent Robotics, Polytechnic Institute of Bragança and INESC TEC, Porto, Portugal

    José Luis Lima & Paulo Leitão

Authors
  1. Lucas de Azevedo Fernandes
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  2. José Luis Lima
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  3. Paulo Leitão
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  4. Alberto Yoshiro Nakano
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Corresponding author

Correspondence to Lucas de Azevedo Fernandes .

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de Azevedo Fernandes, L., Lima, J.L., Leitão, P., Nakano, A.Y. (2020). Using a Collaborative Robot to the Upper Limb Rehabilitation. In: Silva, M., Luís Lima, J., Reis, L., Sanfeliu, A., Tardioli, D. (eds) Robot 2019: Fourth Iberian Robotics Conference. ROBOT 2019. Advances in Intelligent Systems and Computing, vol 1093. Springer, Cham. https://doi.org/10.1007/978-3-030-36150-1_35

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