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IV Latin American Congress on Biomedical Engineering 2007, Bioengineering Solutions for Latin America Health

Volume 18 of the series IFMBE Proceedings pp 758-761

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

  • Ricardo Enrique Gutiérrez CarvajalAffiliated withIngeniería Mecatrónica, Universidad Militar Nueva Granada
  • , F. Vanegas
  • , J. DuqueAffiliated withIngeniería Mecatrónica, Universidad Militar Nueva Granada
  • , O. AvilésAffiliated withIngeniería Mecatrónica, Universidad Militar Nueva Granada
  • , P. NiñoAffiliated withIngeniería Mecatrónica, Universidad Militar Nueva Granada

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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.

Keywords

Lógica difusa rehabilitación mecatrónica miembro superior