Ciencias Exactas y Ciencias de la Salud
Permanent URI for this collectionhttps://hdl.handle.net/11285/551039
Pertenecen a esta colección Tesis y Trabajos de grado de las Maestrías correspondientes a las Escuelas de Ingeniería y Ciencias así como a Medicina y Ciencias de la Salud.
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- Development of a 3-DOF exoskeleton for rehabilitation and training of human wrist in combination with a virtual interface(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2022-07-31) García Leal, Roderico Alfredo; Huegel West, Joel Carlos; puemcuervo, emipsanchez; O'Malley, Marcia K; Cruz Ortiz, David; Salgado Ramos, Iván de Jesús; González de Alba, Alejandro; School of Engineering and Sciences; Campus Monterrey; Ballesteros Escamilla, Mariana FelisaRehabilitation therapies produce positive outcomes by recovering the lost brain plasticity after a cerebrovascular accident or stroke; such therapies can be applied by physiotherapists with the assistance of rehabilitation devices; among these devices, robots have shown the capability of providing consistent and measurable routines for long periods. In the physiotherapy process, the upper limbs are the first parts of the body to receive rehabilitation by playing a key role in performing activities of daily living (ADL) again. In that sense, wrist rehabilitation robots are the most common device with that purpose. The thesis presented herein describes the development of an exoskeleton robot for wrist rehabilitation with three degrees of freedom (DOFs). It was designed to have the capability of proving the forces and ranges of motion required to generate wrist rehabilitation routines. The device DOFs consist of three rotational joints in series, allowing the user to effectuate the natural wrist movements: pronation/supination, flexion/extension, and radial/ulnar deviation. The exoskeleton joints are actuated directly by quasi-direct drive actuators that provide sufficient torque and speed at each DOF to replicate wrist ADLs movements. Actuator's low inertia and low friction allow the joints to be back-drivable, enhancing the transparency of the device. Robust state feedback control algorithms are implemented to achieve position control and trajectory tracking at each DOF without implementing the system's mathematical model. System characterization is obtained through the frequency response and static friction tests over each joint. The effect of the robot dynamics on the user was measured by analyzing the kinematic data of healthy participants when performing wrist movements when using and not the exoskeleton, validating the transparency of the exoskeleton joints by observing smooth velocity profiles when using the device. Finally, a pilot test is performed to demonstrate the capability of interacting with a two-dimensional virtual interface (VI) through the wrist movements performed over the exoskeleton, validating the possibility of future implementation of game-based therapies to encourage participants to perform wrist movements for their rehabilitation. The obtained results provide meaningful data demonstrating the potential of the developed exoskeleton to be used as a wrist rehabilitation device.
- Finger rehabilitation system with double action and two degrees of freedom(Instituto Tecnológico y de Estudios Superiores de Monterrey, 2020-11-30) Nava Téllez, Iyari Alejandro; ELIAS ESPINOSA, MILTON CARLOS; 218805; Elías Espinosa, Milton Carlos; tolmquevedo, emipsanchez; Cervates Culebro, Hector; Flores González, Aldo Elihu; School of Engineering and Sciences; Campus Ciudad de MéxicoCurrently, most of today’s designs of rehabilitation gloves for patients with motor impairments on their fingers focus only on assisting the hand’s opening motion (single action gloves). Most of the time, these gloves need to be operated on with a therapist’s help to be effective. To solve this problem, the purpose of this thesis is to create a new version of a finger rehabilitation system, which includes a lightweight 3D printed flexible exoskeleton finger that can be later adapted to create a complete rehabilitation glove. This glove will have actuators for opening and closing the finger (double action), an interface to provide simple rehabilitation movements, and low cost compared to the current designs. The system will make the rehabilitation process more successful for low-income patients in Mexico by making the therapy sessions more accessible, allowing the patient to be more likely to keep a consistent rehabilitation schedule. The mechanism was validated with three test subjects, each with different anthropomorphic finger dimentions. The main variable that was tested during the validation process are the flexion angles of the finger. These angles will be later compared to the subjects’ unrestricted flexion angles (without using the glove). Also, to find if the cost of the system was low enough, the reference is the average income of a rural Mexican family, which is around $400 USD as of 2016, and for the exoskeleton to be considered lightweight, a weight limit of 300 gr was established for the whole part of the system that had to be put over the patient’s finger and hand. The results of this study showed that the use of the system as mentioned earlier increased the angle of range of motion (ROM) in a significant way compared to current similar designs, improving the (ROM) of the Metacarpophalangeal (MCP) joint by 45% and 15% in the case of the Proximal interphalangeal (PIP) joint. With respect to the weight of the glove, this was around 80g for the parts that have to be located on the patient’s hand. The cost of manufacture and materials for this design was under $80 USD for one finger, which, if extrapolated for an entire glove, the cost would have stayed below $400 USD.