Modelado, control y monitoreo de un exoesqueleto para asistir procesos de rehabilitación en miembro inferior

Abstract

In Colombia, different works are being carried out focused on the development of exoskeletons, these are focused on increasing and improving the capabilities of the human body and/or supporting different movements that may have been lost. In rehabilitation therapies, external factors have been identified that negatively affect the patient's recovery process. Among these factors are the low availability of specialists, assistants and equipment, factors that generate delays and increase treatment time, apart from decreasing the effectiveness of the therapy, so that the recovery of the treated pathology will not be completely satisfactory. . Besides these factors increase the cost of therapies. That is why this study aims to deepen and contribute to the area of ​​development of exoskeletons focused on supporting physical rehabilitation exercises. Specifically, the study focuses on exoskeletons to assist rehabilitation processes of knee and ankle pathologies, for which a dynamic model is developed to which control techniques are applied to put it into operation. This makes it possible to propose an exoskeleton design together with its control and information management platform.