Observatorio de I+D+i UPM

Memorias de investigación
Book chapters:
Mechanical Design of a Robotic Exoskeleton for Upper Limb Rehabilitation
Year:2017
Research Areas
  • Mechanical engineering,
  • Systems interconnection,
  • Robotics,
  • Electronic devices
Information
Abstract
This work presents the conceptual design, construction and testing of an upper limb rehabilitation system consisting of an exoskeleton of 6 degrees of freedom and a Human Machine Interface (HMI) to configure and control the exoskeleton. We present the study of the kinematics of the mechanical device followed by a three-dimensional modeling. Before the design of the exoskeleton was finished, we proceeded to the construction of a prototype in order to validate the model, using the Fused Filament Fabrication (FFF) technology and a three RX-64 Dynamixel motors from Robotis. Labiew® software from National Instruments was chosed to develop the HMI to communicate the exoskeleton with a computer for control the device and obtain relevant data, as the position or movement velocity. The results show the feasibility of the assistance of the robotic device in a rehabilitation processes.
International
Si
10.1007/978-3-319-54377-2_25
Book Edition
1
Book Publishing
Springer International Publishing
ISBN
978-3-319-54377-2
Series
Book title
Advances in Automation and Robotics Research in Latin America
From page
297
To page
308
Participants
  • Autor: Cecilia Elisabet Garcia Cena (UPM)
  • Autor: Marie Andre Destarac Eguizabal (UPM)
  • Autor: Roque Jacinto Saltaren Pazmiño (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robots y máquinas inteligentes
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
  • Departamento: Ingeniería Eléctrica, Electrónica Automática y Física Aplicada
S2i 2019 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
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