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Desarrollo e implementación de un exoesqueleto de miembro inferior en actividades de la vida diaria

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dc.contributor.advisorCifuentes García, Carlos Andrés
dc.contributor.advisorMúnera Ramirez, Marcela Cristina
dc.creatorArciniegas Mayag, Luis Jordy
dc.creator.degreeMagíster en Ingeniería Biomédicaspa
dc.creator.degreetypeFull timespa
dc.date.accessioned2020-08-14T22:27:42Z
dc.date.available2020-08-14T22:27:42Z
dc.date.created2019-06-19
dc.descriptionEsta tesis de maestría, muestra el desarrollo e implementación de un exoesqueleto de miembro inferior para el desarrollo de Actividades de la Vida Diaria (ADL). En este documento se muestra la integración mecatrónica, que incluye la implementación y caracterización de los sensores, para tener en cuenta la interacción física entre el humano y el robot (pHRI). El concepto de pHRI, es utilizado en diversas plataformas de rehabilitación para estimular la participación del paciente en las sesiones de terapia. Se expone la implementación del sistema de actuación, que asisten los movimientos de flexión y extensión de las articulaciones de la cadera y la rodilla. Posteriormente, se explica la metodología utilizada para la implementación de las estrategias de control, basados en un control de admitancia y un control de impedancia que tienen en cuenta la pHRI. Finalmente, se muestra el diseño experimental realizado para la caracterización del sistema de actuación; pruebas preliminares de los conceptos de control; y una prueba piloto con un sujeto sano, haciendo uso del exoesqueleto de miembro inferior unilateral, este muestra el desempeño de las estrategias de control aplicadas para la ADL de la marcha. Este proyecto se encuentra dentro del desarrollo de una plataforma robótica adaptable para rehabilitación y asistencia de la marcha denominada AGoRA.spa
dc.description.abstractThis master's thesis shows the development and implementation of a lower limb exoskeleton for the development of Activities of Daily Living (ADL). This paper shows mechatronic integration, including sensor implementation and characterization, to take into account the physical Human Robot Interaction (pHRI). The concept of pHRI is applied in different rehabilitation platforms to promote patient participation in therapy sessions. The implementation of the performance system is presented, which assists the flexion and extension movements of the hip and knee joints. Subsequently, the methodology involved in the implementation of the control strategies is presented, based on an admittance control and an impedance control that takes into account the pHRI.Finally, it is shown the experimental design made for the characterization of the performance system; preliminary tests of the control concepts; and a pilot test with a healthy subject, making use of the unilateral lower limb exoskeleton, this shows the performance of the control strategies applied for ADL as walking. This project is part of the development of an adaptive robotic platform for rehabilitation and walking assistance called AGoRA.spa
dc.description.sponsorshipMinisterio de Ciencia, Tecnología e Innovación (Minciencias)spa
dc.description.sponsorshipRed REASISTE del Programa Iberoamericano de Ciencia y Tecnología para el Desarrollo (CYTED)spa
dc.description.sponsorshipEscuela Colombiana deIngeniería Julio Garavitospa
dc.format.mimetypeapplication/pdf
dc.identifier.doihttps://doi.org/10.48713/10336_26599
dc.identifier.urihttps://repository.urosario.edu.co/handle/10336/26599
dc.language.isospaspa
dc.publisherUniversidad del Rosario
dc.publisher.departmentEscuela de Medicina y Ciencias de la Saludspa
dc.publisher.programMaestría en Ingeniería Biomédicaspa
dc.rightsAtribución-NoComercial-SinDerivadas 2.5 Colombiaspa
dc.rights.accesRightsinfo:eu-repo/semantics/openAccess
dc.rights.accesoAbierto (Texto Completo)spa
dc.rights.licenciaEL AUTOR, manifiesta que la obra objeto de la presente autorización es original y la realizó sin violar o usurpar derechos de autor de terceros, por lo tanto la obra es de exclusiva autoría y tiene la titularidad sobre la misma.spa
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/2.5/co/
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dc.source.instnameinstname:Universidad del Rosario
dc.source.reponamereponame:Repositorio Institucional EdocUR
dc.subjectExoesqueletospa
dc.subjectMiembro inferiorspa
dc.subjectRehabilitaciónspa
dc.subjectADLspa
dc.subject.ddcFarmacología & terapéuticaspa
dc.subject.ddcSistemasspa
dc.subject.keywordLower limbspa
dc.subject.keywordExoskeletonspa
dc.subject.keywordRehabilitation technologyspa
dc.subject.keywordADLspa
dc.subject.keywordpHRIspa
dc.titleDesarrollo e implementación de un exoesqueleto de miembro inferior en actividades de la vida diariaspa
dc.title.TranslatedTitleDevelopment and implementation of a lower limb exoskeleton in activities of daily livingeng
dc.typemasterThesiseng
dc.type.documentTesisspa
dc.type.hasVersioninfo:eu-repo/semantics/acceptedVersion
dc.type.spaTesis de maestríaspa
local.department.reportEscuela de Medicina y Ciencias de la Saludspa
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