Diseño y construcción de un prototipo de exoesqueleto para extremidades superiores que ayude a contrarrestar los movimientos involuntarios en los procesos de alimentación en personas con Parkinson

Abstract

This research focused on addressing the effects of Parkinson's disease, a disorder that affects individuals' movement and daily activities. The project's main objective was to reduce tremors in the upper limbs during feeding processes by implementing articulated mechanisms, multi-body dynamics, and friction damping. Hand trajectories were observed, leading to the design of a four-bar mechanism adapted to the distal and middle phalanges. The system was actuated by a motor controlled through an open-loop system, where a piezoresistive sensor monitored the pressure exerted on the fingers to detect hand opening and closing movements. Consequently, a rack and pinion mechanism was activated to stabilize finger movements during feeding. Additionally, mechanisms were employed to provide damping and stiffness in the wrist, limiting and guiding the relative displacement between the wrist and hand in both vertical and horizontal axes. The components of the hand movement mechanism and the damping system were manufactured using polylactic acid (PLA) as the material. As a result of creating and using the exoskeleton, a 73% reduction in vibration frequencies between 3-5 Hz and a 100% reduction in vibration frequencies between 0.1-3 Hz were observed. This research and technological development aimed to improve the quality of life for people with Parkinson's disease by giving them greater control and functionality in their daily activities without impeding the natural movement of the affected limb. More advanced sensors are recommended for better sensing of user movements.