Desarrollo de un prototipo de andador-exoesqueleto de 6 grados de libertad para la rehabilitación física de miembros inferiores en infantes dentro del Grupo de Investigación en Bioingeniería GIEBI.

Abstract

This following investigation´s objective: to, details the development of a prototype walker exoskeleton of six degrees of freedom for the physical rehabilitation of lower limbs within the Group of Research and Studies in Bioengineering the GIEBI, of the Facultad de Mecánica de la Escuela Superior Politécnica de Chimborazo. The walker design was made using CAD software and then it was physically implemented. With this base, the investigation begins, selecting the actuators (motors), controllers (HYDIV268M-5A) and the programmable development card (Raspberry PI 2). It was necessary to know the maximum and minimum limits of the movements of the human lower extremities, it was recommended in the specialized bibliography, so that the articulations of the exoskeleton can make them, so it being able to find their final position by means of the equation obtained from the direct kinematic analysis. The programming in the Raspberry is written in the Python language and a means of communication between the user and the mechanism is created with interface development software, which allows the system to start and shut down, as well as the calibration of the angles of the joints. The job culminates with integration of mechanical and electronic systems, then vacuum tests were performed with angles recommended by the physiotherapist whose results are purchased with a simulation of the human gait executed in a videogrammetry software, obtaining an acceptable error of 4% data that is verified with a probability test, showing that the angles assigned in the system allow the human march.