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Virtual Sensor for Kinematic Estimation of Flexible Links in Parallel Robots
(MDPI, 2017-09)
The control of flexible link parallel manipulators is still an open area of research, endpoint trajectory tracking being one of the main challenges in this type of robot. The flexibility and deformations of the limbs make ...
Inclusive and seamless control framework for safe robot-mediated therapy for upper limbs rehabilitation
(Elsevier, 2019-02-11)
Robot-based rehabilitation requires not only the use of a suitable robot, but also an optimal strategy to guarantee that the interaction forces with the patient fit his or her impairment level. In this work, an inclusive ...
Dispositivo Robótico Multifuncional para la Rehabilitación de las Extremidades Superiores
(Comité Español de Automática, 2018-03-05)
En este trabajo se presenta un dispositivo de rehabilitación innovador por su flexibilidad y eficiencia denominado Universal Haptic Pantograph (UHP). Este robot, gracias a su estructura multi-configurable permite la ...
Kinematical and dynamical modelling of a multipurpose upper limbs rehabilitation robot
(Elsevier, 2017-08-23)
Knowing accurate model of a system is always beneficial to design a robust and safe control while allowing reduction of sensors-related cost as the system outputs are predictable using the model. In this context, this paper ...