|
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 |