Imitation Learning-Based System for the Execution of Self-Paced Robotic-Assisted Passive Rehabilitation Exercises

[EN] The development of robotic-assisted rehabilitation exercises involving physical human-robot interaction requires extreme care since an injured limb may be in physical contact with the robot, so compliant behavior is imperative for these tasks. Typical approaches involve force control schemes li...

Full description

Bibliographic Details
Authors: Escarabajal-Sánchez, Rafael José, Pulloquinga-Zapata, José, Zamora-Ortiz, Pau, Valera Fernández, Ángel|||0000-0001-6843-6394, Mata Amela, Vicente|||0000-0003-2255-0567, Vallés Miquel, Marina|||0000-0002-6396-0098
Format: article
Publication Date:2023
Country:España
Institution:Universitat Politècnica de València (UPV)
Repository:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
Language:English
OAI Identifier:oai:riunet.upv.es:10251/201738
Online Access:https://riunet.upv.es/handle/10251/201738
Access Level:Open access
Keyword:Rehabilitation robotics
Learning from demonstrations
Reversible dynamic movement primitives
Gaussian mixture regression
Parallel robot
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA MECANICA
id ES_c9e062cbfe44ec6936567c9d6f4793c5
oai_identifier_str oai:riunet.upv.es:10251/201738
network_acronym_str ES
network_name_str España
repository_id_str
dc.title.none.fl_str_mv Imitation Learning-Based System for the Execution of Self-Paced Robotic-Assisted Passive Rehabilitation Exercises
title Imitation Learning-Based System for the Execution of Self-Paced Robotic-Assisted Passive Rehabilitation Exercises
spellingShingle Imitation Learning-Based System for the Execution of Self-Paced Robotic-Assisted Passive Rehabilitation Exercises
Escarabajal-Sánchez, Rafael José
Rehabilitation robotics
Learning from demonstrations
Reversible dynamic movement primitives
Gaussian mixture regression
Parallel robot
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA MECANICA
title_short Imitation Learning-Based System for the Execution of Self-Paced Robotic-Assisted Passive Rehabilitation Exercises
title_full Imitation Learning-Based System for the Execution of Self-Paced Robotic-Assisted Passive Rehabilitation Exercises
title_fullStr Imitation Learning-Based System for the Execution of Self-Paced Robotic-Assisted Passive Rehabilitation Exercises
title_full_unstemmed Imitation Learning-Based System for the Execution of Self-Paced Robotic-Assisted Passive Rehabilitation Exercises
title_sort Imitation Learning-Based System for the Execution of Self-Paced Robotic-Assisted Passive Rehabilitation Exercises
dc.creator.none.fl_str_mv Escarabajal-Sánchez, Rafael José
Pulloquinga-Zapata, José
Zamora-Ortiz, Pau
Valera Fernández, Ángel|||0000-0001-6843-6394
Mata Amela, Vicente|||0000-0003-2255-0567
Vallés Miquel, Marina|||0000-0002-6396-0098
author Escarabajal-Sánchez, Rafael José
author_facet Escarabajal-Sánchez, Rafael José
Pulloquinga-Zapata, José
Zamora-Ortiz, Pau
Valera Fernández, Ángel|||0000-0001-6843-6394
Mata Amela, Vicente|||0000-0003-2255-0567
Vallés Miquel, Marina|||0000-0002-6396-0098
author_role author
author2 Pulloquinga-Zapata, José
Zamora-Ortiz, Pau
Valera Fernández, Ángel|||0000-0001-6843-6394
Mata Amela, Vicente|||0000-0003-2255-0567
Vallés Miquel, Marina|||0000-0002-6396-0098
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv Departamento de Ingeniería de Sistemas y Automática
Escuela Técnica Superior de Ingeniería Aeroespacial y Diseño Industrial
Departamento de Ingeniería Mecánica y de Materiales
Instituto Universitario de Automática e Informática Industrial
Instituto Universitario de Investigación Concertado de Ingeniería Mecánica y Biomecánica
Escuela Técnica Superior de Ingeniería Industrial
Escuela Técnica Superior de Ingeniería Informática
AGENCIA ESTATAL DE INVESTIGACION
MINISTERIO DE CIENCIA E INNOVACION
Universitat Politècnica de València
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Rehabilitation robotics
Learning from demonstrations
Reversible dynamic movement primitives
Gaussian mixture regression
Parallel robot
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA MECANICA
topic Rehabilitation robotics
Learning from demonstrations
Reversible dynamic movement primitives
Gaussian mixture regression
Parallel robot
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA MECANICA
description [EN] The development of robotic-assisted rehabilitation exercises involving physical human-robot interaction requires extreme care since an injured limb may be in physical contact with the robot, so compliant behavior is imperative for these tasks. Typical approaches involve force control schemes like admittance controllers that allow humans to adapt the motion. However, when the patient¿s limb has limited mobility or is potentially injured, unintentional forces may occur during the robot¿s trajectory that could be incompatible with these controllers. This letter addresses a new way of generating compliant trajectories for passive rehabilitation exercises, considering that previous positions of the trajectory are attainable for the patient, so reversing the trajectory is a safe op eration. Since there is no clear way to optimize such a goal due to the physiological variability among patients, the condition of reversal is based on imitation learning by taking the analogous healthy limb of the patient as a reference and encoding the forces using Gaussian Mixture Regression, and reversibility is accomplished by means of Reversible Dynamic Movement Primitives. The system allows for self-paced rehabilitation exercises by back-and-forth movements along the trajectory according to the patient¿s reaction, and it has been successfully applied to a 4-DOF parallel robot for lower-limb rehabilitation.
publishDate 2023
dc.date.none.fl_str_mv 2023
2023-07-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/201738
url https://riunet.upv.es/handle/10251/201738
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Agencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2021-2023 PID2021-125694OB-I00 SISTEMA ROBOTICO PARALELO CON CONTROL BASADO EN MODELO MUSCULO-ESQUELETICO PARA LA MONITORIZACION Y ENTRENAMIENTO DEL SISTEMA PROPIOCEPTIVO
Universitat Politècnica de València https://doi.org/10.13039/501100004233 Programa PAID de Apoyo a la I+D+i PAID-11-21 Parallel rehabilitation robots: detection and control of singularities in the presence of manufacturing errors
Ministerio de Universidades MIU FPU18%2F05105 DESARROLLO Y CONTROL DE ROBOTS PARALELOS RECONFIGURABLES PARA LA REHABILITACIÓN DE MIEMBRO INFERIOR DE PERSONAS
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869419429820891136
spelling Imitation Learning-Based System for the Execution of Self-Paced Robotic-Assisted Passive Rehabilitation ExercisesEscarabajal-Sánchez, Rafael JoséPulloquinga-Zapata, JoséZamora-Ortiz, PauValera Fernández, Ángel|||0000-0001-6843-6394Mata Amela, Vicente|||0000-0003-2255-0567Vallés Miquel, Marina|||0000-0002-6396-0098Rehabilitation roboticsLearning from demonstrationsReversible dynamic movement primitivesGaussian mixture regressionParallel robotINGENIERIA DE SISTEMAS Y AUTOMATICAINGENIERIA MECANICA[EN] The development of robotic-assisted rehabilitation exercises involving physical human-robot interaction requires extreme care since an injured limb may be in physical contact with the robot, so compliant behavior is imperative for these tasks. Typical approaches involve force control schemes like admittance controllers that allow humans to adapt the motion. However, when the patient¿s limb has limited mobility or is potentially injured, unintentional forces may occur during the robot¿s trajectory that could be incompatible with these controllers. This letter addresses a new way of generating compliant trajectories for passive rehabilitation exercises, considering that previous positions of the trajectory are attainable for the patient, so reversing the trajectory is a safe op eration. Since there is no clear way to optimize such a goal due to the physiological variability among patients, the condition of reversal is based on imitation learning by taking the analogous healthy limb of the patient as a reference and encoding the forces using Gaussian Mixture Regression, and reversibility is accomplished by means of Reversible Dynamic Movement Primitives. The system allows for self-paced rehabilitation exercises by back-and-forth movements along the trajectory according to the patient¿s reaction, and it has been successfully applied to a 4-DOF parallel robot for lower-limb rehabilitation.This work was supported in part by the Fondo Europeo de Desarrollo Regional under Grant PID2021-125694OB-I00, in part by the Vicerrectorado de Investigación de la Universitat Politècnica de València under Grant PAID-11-21, and in part by the Ministerio de Universidades, Gobierno de España under Grant FPU18/05105Institute of Electrical and Electronics EngineersDepartamento de Ingeniería de Sistemas y AutomáticaEscuela Técnica Superior de Ingeniería Aeroespacial y Diseño IndustrialDepartamento de Ingeniería Mecánica y de MaterialesInstituto Universitario de Automática e Informática IndustrialInstituto Universitario de Investigación Concertado de Ingeniería Mecánica y BiomecánicaEscuela Técnica Superior de Ingeniería IndustrialEscuela Técnica Superior de Ingeniería InformáticaAGENCIA ESTATAL DE INVESTIGACIONMINISTERIO DE CIENCIA E INNOVACIONUniversitat Politècnica de ValènciaRepositorio Institucional de la Universitat Politècnica de València Riunet20232023-07-01journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfapplication/pdfhttps://riunet.upv.es/handle/10251/201738reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)InglésengAgencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2021-2023 PID2021-125694OB-I00 SISTEMA ROBOTICO PARALELO CON CONTROL BASADO EN MODELO MUSCULO-ESQUELETICO PARA LA MONITORIZACION Y ENTRENAMIENTO DEL SISTEMA PROPIOCEPTIVOUniversitat Politècnica de València https://doi.org/10.13039/501100004233 Programa PAID de Apoyo a la I+D+i PAID-11-21 Parallel rehabilitation robots: detection and control of singularities in the presence of manufacturing errorsMinisterio de Universidades MIU FPU18%2F05105 DESARROLLO Y CONTROL DE ROBOTS PARALELOS RECONFIGURABLES PARA LA REHABILITACIÓN DE MIEMBRO INFERIOR DE PERSONASopen accesshttp://purl.org/coar/access_right/c_abf2Reserva de todos los derechoshttp://rightsstatements.org/vocab/InC/1.0/info:eu-repo/semantics/openAccessoai:riunet.upv.es:10251/2017382026-06-13T07:49:27Z
score 15,198674

Similar Items