Diseño de órtesis para rehabilitación de hombro empleando robots manejados por cables

This project consists of the design of a shoulder rehabilitation device for people with joint mobility problems in the upper limbs due to different disorders, such as stroke. This disorders can result in the loss of control of a hemisphere of the body or sections of it as it generates neuronal disconnections between the brain and these sections. One of the strategies designed to alleviate the consequences of limitations in joint mobility due to disorders such as stroke is passive mobilization exercises. This therapeutic technique involves the movement of joint surfaces through a therapist or a device that involuntarily stimulates usually inactive muscles by inducing neuronal activation patterns. This design will focus on the recovery stage of the range of joint movement. The main problem in the realization of the design of this project was to perform the dimensional synthesis of the mechanism, for this, the evaluation of the workspace and the dimensional optimization based on a better kinematic performance was carried out through an optimization method called Genetic Algorithm. Kinematic analysis of the proposed mechanism was necessary to evaluate the control of the mechanism in terms of the desired arm control. For this, the positions of the mechanism were obtained as a function of the positions of the upper limbs, and the different kinematic variables were determined. Also, a model based on the D'Alembert principle was developed to determine the forces required by the system to obtain the desired movements. Once determined, we proceeded to the selection of actuators, the details drawings, the location of these actuators and finally, determine the required cable length.

• Autores: Padilla Ramírez, Miguel Ángel Jr; Castillo Ramírez, Anderson David Jr; Quintero Carmona, María Carolina Jr
• Fecha de publicación: 2019
• Institución: Universidad del Norte
• Repositorio: Repositorio Uninorte
• Idioma: spa
• OAI Identifier: oai:manglar.uninorte.edu.co:10584/8436
• Acceso en línea: http://hdl.handle.net/10584/8436
• Palabra clave: Robótica Paralela; Dispositivo de rehabilitación; Orthosis device; Algoritmo genético; Principio de d'Alembert; Parallel Robotics; Genetic algorithm; D'Alembert's principle
• License: Universidad del Norte