The main objective of this project is the development and experimental validation of a mechatronic system, based on a parallel robot, capable of performing, with full patient safety, both rehabilitation tasks and clinical evaluation of the lower limb.

In order to achieve the general objective, specific objectives are proposed which, according to the requirements of the call for proposals, are classified according to the following disciplines: i) biomechanical, ii) mechanical and iii) control:

Biomechanical objectives:

  • BO1: Define proprioceptive sensory rehabilitation exercises and select appropriate monitoring systems.
  • BO2: To analyze the musculoskeletal response in proprioceptive training exercises.
  • BO3: Obtain a pattern base of healthy people and people with musculoskeletal injury.
  • BO4. To test the usefulness of the system in the assessment of proprioceptive sensory capacity, both in diagnosis and in the evolutionary control of treatments.

Mechanical objectives:

  • MO1: Develop a model capable of predicting the errors produced in the generalized coordinates of the robot due to joint clearances and manufacturing imperfections.
  • MO2: Establish an index of proximity to Type II singularities in the presence of errors in the generalized coordinates due to clearances.
  • MO3: Develop a Type II singularity avoidance. The aim is to keep the robot away from singular configurations, with minimal modifications on the initially planned trajectory.

Control objectives

  • CO1: Develop the advanced control and sensorization hardware/software architecture for the parallel robot, based on a robot control middleware (ROS2).
  • CO2: Develop a control system to enable clinical assessment and rehabilitation. Non-linear force/position controllers should be developed depending on the dynamic model of the robot and the lower limb musculoskeletal model to be developed by the Biomechanics Group.
  • CO3: Development of a monitoring and telecare system to make the robot safe (for both clinicians and patients) and to facilitate its use and the storage and management of information related to clinical assessment and rehabilitation activities.
  • CO4: Develop a control system that allows the robot to automatically avoid and/or exit singular points in the event that for some reason it has fallen into one of them.