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2014, Número 1

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Rev Mex Ing Biomed 2014; 35 (1)


Desarrollo de un Exoesqueleto para Rehabilitación de Tobillo y Rodilla

López R, Torres J, Salazar S, Lózano R

Idioma: Español
Referencias bibliográficas: 31
Paginas: 13-28
Archivo PDF: 698.62 Kb.


RESUMEN

Los exoesqueletos son sistemas electro-mecánicos acoplados a las extremidades del cuerpo humano enfocados al incremento de su fuerza, velocidad y rendimiento principalmente. Las principales aplicaciones son en la milicia, en la industria y en la medicina, en particular se pueden utilizar para la rehabilitación de las extremidades. En este artículo se presenta un exoesqueleto de dos grados de libertad para realizar ejercicios de rehabilitación en tobillo y rodilla. El diseño y construcción del exoesqueleto está basado en la instrumentación y control de una ortesis del miembro inferior derecho. El Exoesqueleto utiliza sensores que estiman la fuerza producida por el humano y se encuentran acoplados a los actuadores SEA (Series Elastic Actuator) que se utilizan para amplificar la fuerza humana. La amplificación de la fuerza puede aumentarse o disminuirse según se necesite, permitiendo al usuario una mejora evolutiva hasta llegar a la rehabilitación. Además mediante sensores se estima la posición y velocidad angular de las articulaciones, que se utilizan para controlar el movimiento de la pierna. En resumen, el objetivo perseguido es de contar con un diseño propio de bajo costo de un exoesqueleto que ofrezca una disminución en el esfuerzo requerido por el usuario para mantenerse en pie y hacer algunos ejercicios de rehabilitación estáticos independientes como flexionar y extender la pierna derecha o izquierda.


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