Diseño y construcción de un tobillo robótico para asistencia en el proceso de rehabilitación

Abstract

This project presents a methodology for designing and building an ankle exoskeleton prototype to help patients with non-invaliding disability in physical rehabilitation. This methodology includes, among others: kinematic and dynamic analyzes, mechanical design by using a CAD, materials resistance study, actuator sizing, sEMG signals processing, and control system deployment in an embedded microcontroller platform.

The prototype is tested in two healthy subjects, in order to evaluate the potential benefit for non-healthy patients. The results show a good insight of the multiple advantages of the exoskeleton in the gait rehabilitation process, while set a future path for improving the prototype.