Diseño y Control de un Exoesqueleto para Rehabilitación Motora en Miembro Superior

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Abstract

The biomechanical system’s design and its control, used for arm rehabilitation therapy, are considered in this work. An exosystem with three degrees of freedom (DoF) was designed. Through a Graphical user interface (GUI) the exosystem is manipulated by a fuzzy controller and a relational database. It allows generating different trajectories for each DoF; in that way the patient can receive special programmed therapy. The exosystem design, its control and power system, as well as the user interface are presented. Simulations results are provided to show the system and proposed control scheme performances.