Desarrollo e implementación de un exoesqueleto de miembro inferior en actividades de la vida diaria

Abstract

This master's thesis shows the development and implementation of a lower limb exoskeleton for the development of Activities of Daily Living (ADL). This paper shows mechatronic integration, including sensor implementation and characterization, to take into account the physical Human Robot Interaction (pHRI). The concept of pHRI is applied in different rehabilitation platforms to promote patient participation in therapy sessions. The implementation of the performance system is presented, which assists the flexion and extension movements of the hip and knee joints. Subsequently, the methodology involved in the implementation of the control strategies is presented, based on an admittance control and an impedance control that takes into account the pHRI.Finally, it is shown the experimental design made for the characterization of the performance system; preliminary tests of the control concepts; and a pilot test with a healthy subject, making use of the unilateral lower limb exoskeleton, this shows the performance of the control strategies applied for ADL as walking. This project is part of the development of an adaptive robotic platform for rehabilitation and walking assistance called AGoRA.