Electronic and mechanical design of an exoskeletal structure prototype to contribute to partial rehabilitation

Abstract

This research develops a proposal for the mechanical and electronic design of an exoskeleton type robotic prototype that aims to contribute to the partial rehabilitation of the hand through muscle sensors (EMG), to detect the patient's intention to move and achieve an adequate rehabilitation routine, the development methodology is based on three stages. The first stage is the electronics where the control circuit is developed and the simulation of the muscle sensors (EMG) for the activation of the linear actuators, in this stage a motion registration circuit is also developed that is reflected on an LCD screen, The second stage is the mechanics that studies the biomechanics of the hand for the creation of the design of the links of the external and internal phalanges generating the extension and flexion of the fingers of the mechanism, and the third stage is the integration of the mechanical and electronic system that describes all the components that make up the system. The simulation of the Von Mises stress analysis in the SolidWorks software with the PET type plastic composite material was obtained as results, the parts of the exoskeleton withstood the applied loads, maintaining that the prototype design has the ability to hold and support the fingers.