Bibliographic citations
Silva, F., (2024). Diseño de un exoesqueleto para rehabilitación de miembros inferiores para pacientes con secuelas de un accidente cerebrovascular [Universidad Nacional de Trujillo]. https://hdl.handle.net/20.500.14414/21018
Silva, F., Diseño de un exoesqueleto para rehabilitación de miembros inferiores para pacientes con secuelas de un accidente cerebrovascular []. PE: Universidad Nacional de Trujillo; 2024. https://hdl.handle.net/20.500.14414/21018
@misc{renati/1045460,
title = "Diseño de un exoesqueleto para rehabilitación de miembros inferiores para pacientes con secuelas de un accidente cerebrovascular",
author = "Silva Zuta, Fray David",
publisher = "Universidad Nacional de Trujillo",
year = "2024"
}
A robotic exoskeleton was designed for the rehabilitation of people who have sequelae of a stroke with 3 degrees of freedom per limb, for which an appropriate design task was proposed that managed to encompass everything that was carried out, for the development of this design task. The search for human and rehabilitation parameters was carried out, some found using the Kinovea software, which serve as design and simulation requirements for the exoskeleton, and conceptual designs were also proposed based on human parameters. Considering the most appropriate conceptual design, we continued with the determination of the kinematic analysis of this, relying on the DenavitHartenberg algorithm which, through certain parameters, resulted in the direct kinematics and therefore also the inverse kinematics of the exoskeleton. After having developed the kinematic analysis of the exoskeleton, the dynamic analysis of the exoskeleton was developed taking into consideration to make approximations such as the centre of mass, the moment of inertias and the weight for the parts that make up the lower extremity for the user, as well as the parts of the exoskeleton which will help us as variables that make up the Euler-Lagrange equation. The generation of trajectories was also determined using the cubic polynomial method considering the rehabilitation parameters found. Then the simulation of the exoskeleton was determined in the trajectories carried out. Finally, an evaluation of the exoskeleton is carried out following the evaluation criteria proposed in Annex 1.
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