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Descripción
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| The growing field of exoskeletons and wearable devices for walking assistance and rehabilitation has advanced considerably over the past few years. The current use of commercial devices is in-hospital rehabilitation of spinal cord injured, nevertheless the purpose of this technology is challenging: to provide gait assistance in daily life activities to the broadest segment of neurological disorders affecting walking and balance. A number of difficulties make this goal a challenge, but to name a few: (1) The degenerative character of the majority of neurological disorders and the very complex symptomatology associated to the disease requires an intelligent exoskeleton able to self-adapt to the disease; (2) The assistance to daily life activities requires a gait exoskeleton for particular use provided with energy autonomy for ?at least- a journey. The causes for current commercial devices for not approaching this capabilities are mostly related to the nature and control approach of the joint actuation systems. Currently, commercial devices contain joints with stiff actuators that cannot adapt to unpredictable environments. These actuators consume more energy and may not be appropriate for human?machine interactions. Adjustable compliant actuators are being designed and implemented because of their ability to minimize large forces due to shocks, to safely interact with the user, and their ability to store and release energy in passive elastic elements. Many simulation-based researches have been performed evaluating the benefits of incorporating compliant joints in robotic exoskeletons. | |
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Internacional
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ISBN
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Tipo de Tesis
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Doctoral |
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Calificación
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Sobresaliente cum laude |
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Fecha
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01/01/2017 |