On this page you will find some videos related to the rehabilitation system developed in this research project.


Body segments acquisition using a photogrammetry system

To be able to capture the movements of the mobile platform of the parallel robot or the position and orientation of the patient’s body segments, a 3D tracking system (3DTS) based on artificial vision has been used. The system consists of 10 Flex13 cameras from the manufacturer OptiTrack. These cameras use the Infrared emission principle to be able to capture and detect the reflection that it creates on markers made of reflective 3M material.

The Motive Tracker software from the same manufacturer, OptiTrack, is used on the camera control computer. This software is used to perform vision system calibration and obtain 6-DOF positioning results of objects within the tracking area. This 64-bit, multi-threaded architecture software uses high-level tracking filters and constraints to fine tune the performance of the high-speed object tracking.

This video shows the Robotics Laboratory and some cameras of the 3DTS used in this work. The cameras have a 1.3 Megapixel resolution and a capture velocity of 120 Hz. They have a latency or frame delay of 8.3 ms. The set of 10 cameras and the use of high-quality 14 mm markers make it possible to obtain an accuracy of more than 0.1 mm. 

In addition, the video also shows the acquisition of a person’s foot, ankle, knee and hip. This information will be used to obtain the kinematic calibration of the patient.


Mobile platform pose control using a force sensor

This video shows how the pose (position and orientation) of the moving platform of the parallel robot can be operated by force control.

The ATI sensor FTN-Delta-10-Netb SI-330-3 is used for this purpose. This is a multi-axis sensor with 6 degrees of freedom capable of measuring forces and torques in the X-Y-Z axes.


Additional degree of freedom for the rehabilitation robot

This video shows the result obtained by adding an additional degree of freedom for the parallel robot.

Thanks to a system based on a servo-controlled electric actuator, the orientation of the fixed platform of the parallel robot can be fixed, allowing to increase the working area related to proprioception testing and rehabilitation exercises.

A new linear algebra model-based controller for a 4dof parallel robot

This video shows a new controller for parallel robots. The design of the controller is based on the dynamic robot model, and it uses Linear Algebra Theory and Numerical Methods. The controller stability analysis demonstrates that it is globally uniformly asymptotically stable. Simulations and experimental results with an actual 3UPS+RPU parallel robot confirm the feasibility and the effectiveness of the proposed controller. The new strategy allows an intuitive adjustment of parameters, the computational cost is low, and the robot is able to follow the trajectory references closely.