Diseño y análisis de la estructura mecánica de un exoesqueleto para la rehabilitación de miembros inferiores
Archivos
Fecha
2010-07-20
Autores
Pardo Pérez, Lianny
Título de la revista
ISSN de la revista
Título del volumen
Editor
Universidad Central "Marta Abreu" de Las Villas
Resumen
En el presente trabajo se pretende realizar el diseño de la estructura mecánica de un exoesqueleto robótico de la necesidad de completar un dispositivo capaz de rehabilitar personas que presenten discapacidad en sus miembros inferiores producto de lesiones o trastornos cerebrales, los cuales se vean imposibilitados en realizar algún tipo de movimiento como caminar. También se pretende utilizar como objetivo de diagnóstico y medición que permita trazar nuevas estrategias en cuanto a la rehabilitación de cada paciente, además de elevar cosiderablemente la autoestima en personas que por razones mayores ya no puedan realizar ningún tipo de movimiento. El trabajo consta de una primera parte donde se realiza un estudio sobre el estado del arte de los exoesqueletos, posteriormente se aborda un análisis sobre la biommecánica de los miembros inferiores del cuerpo humano y la biomecánica de la marcha humana normal, luego se lleva a cabo la obtención de los parámetros cinéticos y cinemáticos que actúan en la marcha humana, así como el diseño y cálculo por elementos finitos de dicha estructura mecánica.
In this paper we are trying to design the mechanical structure of a robotic exoskeleton, based on the need to complement a device capable of rehabilitating people who have disabilities in their lower limbs, which are caused by injuries or brain disorders, including being preventd in some kind of movement such as walking. It is also intended to use as an objetc of measurement and diagnosis that allows charting new strategies on the rehabilitation of each patient, and also to raise people´s self-esteem considerably, takin into account the reasons that no longer allow them to perform any motion, The paper consists of a first part in wchich is done a study based on the state of the art of the exoskeletons, later an analysis of the biomechanics of the lower limbs of the human body and biomechanics of the normal human gait is done, then comes the obtaining of the kinetic and kinematic parameters that act in human walking, as well as the desing and finite element calculation of the mechanical structure of the exoskeleton.
In this paper we are trying to design the mechanical structure of a robotic exoskeleton, based on the need to complement a device capable of rehabilitating people who have disabilities in their lower limbs, which are caused by injuries or brain disorders, including being preventd in some kind of movement such as walking. It is also intended to use as an objetc of measurement and diagnosis that allows charting new strategies on the rehabilitation of each patient, and also to raise people´s self-esteem considerably, takin into account the reasons that no longer allow them to perform any motion, The paper consists of a first part in wchich is done a study based on the state of the art of the exoskeletons, later an analysis of the biomechanics of the lower limbs of the human body and biomechanics of the normal human gait is done, then comes the obtaining of the kinetic and kinematic parameters that act in human walking, as well as the desing and finite element calculation of the mechanical structure of the exoskeleton.
Descripción
Palabras clave
Estructura Mecánica, Exoesqueleto, Miembros Inferiores, Rehabilitación