Modelling, design, and construction of a wrist rehabilitation exoskeleton


Authors

DOI:

https://doi.org/10.22517/23447214.24748

Keywords:

Rehabilitation robotics, wearable robotics, radiocarpal joint, model, Euler-Lagrange, Simulink, control, Arduino, MIT App Inventor

Abstract

Este trabajo presenta el modelado, diseño, construcción y control de un exoesqueleto de rehabilitación de flexión/extensión y abducción/aducción de la articulación de la muñeca. Los modelos dinámicos de los movimientos de la muñeca se obtienen utilizando la formulación de Euler-Lagrange y se construyen en Simulink de MATLAB junto con un control PID de lazo cerrado que representa el control neuromusculoesquelético natural humano. Se realizan simulaciones para estimar el torque articular requerido para producir los movimientos funcionales de la muñeca en un adulto colombiano promedio. El exoesqueleto está diseñado en el software CAD SolidWorks, construido mediante impresión 3D en ácido poliláctico (PLA), alimentado por dos servomotores a bordo y controlado por una placa Arduino UNO que establece comunicación con una aplicación móvil Android desarrollada en MIT App Inventor para ingresar los parámetros de la terapia de rehabilitación.

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References

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Published

2022-09-30

How to Cite

Sarmiento Ramos, J. L., & Anaya Rojas, M. F. (2022). Modelling, design, and construction of a wrist rehabilitation exoskeleton . Scientia Et Technica, 27(3), 177–185. https://doi.org/10.22517/23447214.24748

Issue

Vol. 27 No. 3 (2022): Julio - Septiembre

Section

Mecánica

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