Robot asistencial para pacientes con lesiĆ³n medular
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Archivos
Fecha
2015
Autores
Profesor/a GuĆa
Facultad/escuela
Idioma
es
TĆtulo de la revista
ISSN de la revista
TĆtulo del volumen
Editor
Universidad Andres Bello
Nombre de Curso
Licencia CC
Licencia CC
Resumen
En esta investigaciĆ³n se desarrolla el estudio, diseƱo y simulaciĆ³n para un prototipo
de exoesqueleto robĆ³tico para miembro superior que asista a pacientes con lesiĆ³n
medular C5 y C6. Para ello fue desarrollado un diseƱo mecƔnico, orientado en las
limitaciones asociadas a la discapacidad del paciente, posteriormente se realizĆ³ un
estudio sobre el diseƱo elƩctrico, de comunicaciones y de costo que defina las
prestaciones teĆ³ricas necesarias para llevarse a cabo este prototipo. Se diseĆ±Ć³ un
sistema de control por posiciĆ³n y fuerza junto a un estudio cinemĆ”tico para la resoluciĆ³n
del movimiento del equipo. Se desarrollĆ³ una programaciĆ³n y un patrĆ³n de movimientos
permita realizar las actividades de la vida diaria como el comer, se desarrolla una
simulaciĆ³n que pruebe y muestre la cinemĆ”tica y el sistema de control del equipo.
In this research, a study, desing, and simulation is developed for a robotic exosqueleton prototype for an uppep limb, so it assists pacients with medular lession in c5 and c6 spinal cords. For this, a mechanical design has been developed, specifically oriented to aiding pacients with movement limitations, furthermore, a study about the electric design was made, and also about communications and costs that defines the theoretical functionalities necesaries to the development to this prototype. a control system was designed for position and force in conjunction to a cinematic study for the resolution of motion of the system. a programming and movement pattern was made that allows the user to develop regular activities such as eating. A simulation has been made, that shows, and tests the cinematics and control systems of the equipment.
In this research, a study, desing, and simulation is developed for a robotic exosqueleton prototype for an uppep limb, so it assists pacients with medular lession in c5 and c6 spinal cords. For this, a mechanical design has been developed, specifically oriented to aiding pacients with movement limitations, furthermore, a study about the electric design was made, and also about communications and costs that defines the theoretical functionalities necesaries to the development to this prototype. a control system was designed for position and force in conjunction to a cinematic study for the resolution of motion of the system. a programming and movement pattern was made that allows the user to develop regular activities such as eating. A simulation has been made, that shows, and tests the cinematics and control systems of the equipment.
Notas
Tesis (Ingeniero en AutomatizaciĆ³n y RobĆ³tica)
Palabras clave
RobĆ³tica, MĆ©dula Espinal