Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
ORTE Exoskeleton: Actuation System Dimensioning and Selection
Year:2017
Research Areas
  • Biomedicine,
  • Mechanical engineering,
  • Robotics
Information
Abstract
In this work is addressed the selection of the electric motors for an upper limb rehabilitation exoskeleton based on the evaluation of the resulting torques needed to perform a set of predefined trajectories considering three load scenarios. The trajectories considered correspond with pure joint movements and the daily living activity of eating. Furthermore, in order to provide smooth movements, it is implemented a sinusoidal-linearsinusoidal velocity profile. The torques profiles are obtained using the Simscape Multibody simulation environment. Considering the nominal and peaks velocity and resulting torques, it is proposed a set of electric motors commercially available from the manufacturer?s catalogues.
International
Si
Congress
International Conference CONCAPAN XXXVII, IEEE
960
Place
Nicaragua
Reviewers
Si
ISBN/ISSN
978-1-5386-3509-4
Start Date
14/11/2017
End Date
17/11/2017
From page
40690
To page
40690
2017 IEEE 37th Central America and Panama Convention (CONCAPAN XXXVll)
Participants
  • Autor: Ricardo Espinoza Gómez (UPM)
  • Autor: Marie Andre Destarac Eguizabal (UPM)
  • Autor: Manuel Napoleón Cardona Gutiérrez (UPM)
  • Autor: Jorge García Montaño (Universidad Politécnica de Madrid)
  • Autor: María Camila Sierra (Universidad Nacional de Colombia)
  • Autor: Rafael Acebrón (Aura Innovative Robotics)
  • Autor: Lisandro Jose Puglisi . (UPM)
  • Autor: Cecilia Elisabet Garcia Cena (UPM)
Research Group, Departaments and Institutes related
  • Creador: 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 2020 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)