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An orthopedic boot, equipped with a force sensor, has been placed over the platform of the parallel robot to perform exercises for injured ankles. Passive, active-assistive and active-resistive exercises have been implemented to train dorsi\/plantar flexion, inversion and eversion ankle movements. In order to implement the controllers, the component-based middleware Orocos has been used with the advantage over other solutions that the whole scheme control can be implemented modularly. These modules are independent and can be configured and reconfigured in both configuration and runtime. This means that no specific knowledge is needed by medical staff, for example, to carry out rehabilitation exercises using this low-cost parallel robot. The integration between Orocos and ROS, with a CAD model displaying the actual position of the rehabilitation robot in real time, makes it possible to develop a teleoperation application. In addition, a teleoperated rehabilitation exercise can be performed by a specialist using a Wiimote (or any other Bluetooth device).<\/jats:p>","DOI":"10.1017\/s0263574715000120","type":"journal-article","created":{"date-parts":[[2015,3,13]],"date-time":"2015-03-13T03:31:48Z","timestamp":1426217508000},"page":"1939-1957","source":"Crossref","is-referenced-by-count":46,"title":["A 3-PRS parallel manipulator for ankle rehabilitation: towards a low-cost robotic rehabilitation"],"prefix":"10.1017","volume":"35","author":[{"given":"Marina","family":"Vall\u00e9s","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jos\u00e9","family":"Cazalilla","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"\u00c1ngel","family":"Valera","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Vicente","family":"Mata","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"\u00c1lvaro","family":"Page","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Miguel","family":"D\u00edaz-Rodr\u00edguez","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2015,3,13]]},"reference":[{"key":"S0263574715000120_ref26","volume-title":"Modeling, Identification and Control of Robots","author":"Khalil","year":"2002"},{"key":"S0263574715000120_ref9","first-page":"1","article-title":"A systematic review of bilateral upper limb training devices for poststroke rehabilitation","author":"van Delden","year":"2012","journal-title":"Stroke Res., Treat."},{"key":"S0263574715000120_ref18","unstructured":"M. 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