Desenvolvimento de dispositivo para membro inferior com deficiência parcial / Development of a device for a partially impaired lower member

Álvaro Joffre Uribe Quevedo

This work proposes the development of a low cost open architecture lower member assisting device, integrated to a virtual environment as tools for complementing rehabilitation. Research done in the robotic assisting motion field and virtual reality in rehabilitation have led to the development of related hardware and software, resulting in the development of highly social impact solutions in therapy processes. The development of the proposed device takes as foundation the study of the lower member biomechanics, kinematics and dynamics that allow the development of the proposed solution for its application in assisting motion while offering a secure and monitored environment for the user. The followed methodology for developing the proposed system is based on the lower member biomechanics analysis through its anthropometric relations for solving the kinematics problem along with the motion generation. These analyses allow defining a suitable mechatronics design for assisting the lower member motions which is optimized using the dynamic model for tuning the actuation and mechanical systems. For the development of the virtual environment and to offer a perambulador interaction, two different 3D user interfaces were used, one using accelerometers for collecting the user data, and the other one using depth maps. The acquired motion information allows the user to interact with the virtual environment through its lower member motions thus, encouraging him to execute sequences while navigating the virtual world, while teleoperating the lower member with partial impairment developed device

Desenvolvimento de dispositivo para membro inferior com deficiência parcial / Development of a device for a partially impaired lower member

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