Rehabilitating exercise definition by force sensor.

The video shows the process for the development of rehabilitation exercises using a parallel robot developed in the Universitat Politecnica de Valencia.

For the development of the exercises, the doctor moves the platform to the necessary positions and orientations. This information is stored in the robot the control unit, and this information will then be used as the motion references to follow.

To move the platform, a position and force hybrid controller has been developed.

To store the exercises there are two options: in the first one the position and orientation of the robot is continuously stored. In the second one, each pose is stored when the doctor indicates it (by pressing a key on the control team). At this moment he must indicates the desired/required time to make the move from the last stored position to the new one. In addition, in the latter case you can also indicate the interpolation (linear, cubic, spline, etc.) between the different points.