Diseño y construcción de una prótesis mecatrónica de miembro inferior con compensación magnetoreológica

Abstract

The purpose of this project is the implementation of a magnetorheological damper in the design and construction of a transfemoral prosthesis that can change the viscosity of the fluid by controlling the voltage. The proposed methodology emphasizes five phases: starting with the modeling of the limb by means of the Euler-Lagrange formalism, so that the equations of motion are obtained resembling the system to the behavior of a double pendulum, followed by characterization of the damper model through laboratory tests and the optimization of the lugre model with the use of genetic algorithms, then the CAD model of each of the pieces was made in SolidWorks and its stress analysis obtaining each one a safety factor that shows that the material supports the loads to which it will be exposed, then the fuzzy controller design was carried out, determining the membership functions of the linguistic variables obtained in the data acquisition of the gait of a person without disability, in order to correlate the linguistic sets with the desired output through Mamdani’s inference method, after all the designs have been obtained, the prosthesis is built and functional tests were performed during the gait validating the prototype according to the results obtained.