Diseño y construcción de un exoesqueleto de rodilla robótica para asistir a pacientes en etapas de rehablitación

Abstract

This research presents the methodology for the design and construction of a prototype knee exoskeleton for rehabilitation of patients with crippling disabilities. Kinematic and dynamic analysis of the lower extremity is performed using the method proposed by Denavit-Hartenberg and LaGrange-Euler, respectively. The stress analysis of the materials used to develop the exoskeleton is performed in Autodesk Inventor. The actuator sizing was performed using an analysis of effort with the SimMechanics tool of MATLAB. The operation of the exoskeleton is monitored by an external control system that connects to a database to decide routine or routines to be executed along rehabilitation therapy. Routines are stored in various movement patterns, depending on the angular velocity, both assisted walking as muscle relaxation cycles. A classic control system, proportional-integral-derivative controller, is developed to perform a reference following strategy for every rehabilitation routine to be performed by the exoskeleton. Finally, by the prototype is validated by laboratory test and the Department of Physical Therapy at the University of Cuenca, which evaluated the response of the control system the prototype is validated by laboratory test.