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Authors: Lucas de Azevedo Fernandes 1 ; Thadeu Brito 2 ; Luis Piardi 2 ; José Lima 3 and Paulo Leitão 2

Affiliations: 1 Universidade Tecnológica Ferderal do Paraná, Paraná, Brazil ; 2 CeDRI - Research Centre in Digitalization and Intelligent Robotics, Portugal ; 3 INESC TEC - INESC Technology and Science and CeDRI - Research Centre in Digitalization and Intelligent Robotics and Polytechnic Institute of Bragança, Portugal

Keyword(s): Robotics Rehabilitation, Collaborative Robots, Reinforcement Learning, Human–robot Interaction.

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.

CC BY-NC-ND 4.0

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Paper citation in several formats:
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 (BIOSTEC 2020) - BIODEVICES; ISBN 978-989-758-398-8; ISSN 2184-4305, SciTePress, pages 176-183. DOI: 10.5220/0009004501760183

@conference{biodevices20,
author={Lucas de Azevedo 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 (BIOSTEC 2020) - BIODEVICES},
year={2020},
pages={176-183},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009004501760183},
isbn={978-989-758-398-8},
issn={2184-4305},
}

TY - CONF

JO - Proceedings of the 13th International Joint Conference on Biomedical Engineering Systems and Technologies (BIOSTEC 2020) - BIODEVICES
TI - A Real Framework to Apply Collaborative Robots in Upper Limb Rehabilitation
SN - 978-989-758-398-8
IS - 2184-4305
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
PB - SciTePress

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