Exoskeleton for lower limb rehabilitation with two degrees of freedom aimed at patients with cerebrovascular accidents

Introduction− An exoskeleton can be understood as a mecha-tronic structure with the capacity to be coupled to an external extremity and which allows the development of the movements in the different articulations of the same one. These move-ments are developed with the support of actuators...

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Main Authors: Diego Alexander Tibaduiza Burgos, Pedro Antonio Aya Parra, Maribel Anaya Veja
Format: Article
Language:English
Published: Universidad de la Costa 2019-09-01
Series:Inge-Cuc
Subjects:
Online Access:https://revistascientificas.cuc.edu.co/ingecuc/article/view/1975
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spelling doaj-487efa4fc7424f52857427c4f57baf452020-11-25T03:49:24ZengUniversidad de la CostaInge-Cuc0122-65172382-47002019-09-01152364710.17981/ingecuc.15.2.2019.04Exoskeleton for lower limb rehabilitation with two degrees of freedom aimed at patients with cerebrovascular accidentsDiego Alexander Tibaduiza Burgos0https://orcid.org/0000-0002-4498-596XPedro Antonio Aya Parra1https://orcid.org/0000-0002-3987-1028Maribel Anaya Veja2https://orcid.org/0000-0002-0241-4771Universidad Nacional de Colombia, Bogotá. (Colombia)Universidad del Rosario. Bogotá (Colombia)Universidad Santo Tomás. Bogotá (Colombia)Introduction− An exoskeleton can be understood as a mecha-tronic structure with the capacity to be coupled to an external extremity and which allows the development of the movements in the different articulations of the same one. These move-ments are developed with the support of actuators that define the degrees of freedom of this type of device. Objective− Given their versatility, these structures can be-come a useful tool in the assistance of rehabilitation work of human upper and lower limbs, and in some cases, such as this work for example, help patients with paralysis in their limbs for the development of activities as complex as human walking. Methodology−Although there are some important advances in this area, it is still in the research phase and many of the developments are not yet available or affordable for massive use in countries such as Colombia and Latin America in gen-eral. From this point of view and as a contribution to the de-velopment of this area in the country, this work presents the development of an active exoskeleton, which was designed to assist in the rehabilitation of patients who have had some type of sequelae as a result of a Brain Vascular Accident (stroke), also known as Stroke.Results− The article includes information on the modeling, design, control and construction of the exoskeletal device, as well as the development of preliminary tests aimed at show-ing its use in the development of repetition tests in the sagit-tal plane.Conclusions− The result of these analyses shows the poten-tial of the system developed for its application in this type of rehabilitation therapies.https://revistascientificas.cuc.edu.co/ingecuc/article/view/1975exoskeletoncerebrovascular accidentrehabilitationlower limbcontrolprototype
collection DOAJ
language English
format Article
sources DOAJ
author Diego Alexander Tibaduiza Burgos
Pedro Antonio Aya Parra
Maribel Anaya Veja
spellingShingle Diego Alexander Tibaduiza Burgos
Pedro Antonio Aya Parra
Maribel Anaya Veja
Exoskeleton for lower limb rehabilitation with two degrees of freedom aimed at patients with cerebrovascular accidents
Inge-Cuc
exoskeleton
cerebrovascular accident
rehabilitation
lower limb
control
prototype
author_facet Diego Alexander Tibaduiza Burgos
Pedro Antonio Aya Parra
Maribel Anaya Veja
author_sort Diego Alexander Tibaduiza Burgos
title Exoskeleton for lower limb rehabilitation with two degrees of freedom aimed at patients with cerebrovascular accidents
title_short Exoskeleton for lower limb rehabilitation with two degrees of freedom aimed at patients with cerebrovascular accidents
title_full Exoskeleton for lower limb rehabilitation with two degrees of freedom aimed at patients with cerebrovascular accidents
title_fullStr Exoskeleton for lower limb rehabilitation with two degrees of freedom aimed at patients with cerebrovascular accidents
title_full_unstemmed Exoskeleton for lower limb rehabilitation with two degrees of freedom aimed at patients with cerebrovascular accidents
title_sort exoskeleton for lower limb rehabilitation with two degrees of freedom aimed at patients with cerebrovascular accidents
publisher Universidad de la Costa
series Inge-Cuc
issn 0122-6517
2382-4700
publishDate 2019-09-01
description Introduction− An exoskeleton can be understood as a mecha-tronic structure with the capacity to be coupled to an external extremity and which allows the development of the movements in the different articulations of the same one. These move-ments are developed with the support of actuators that define the degrees of freedom of this type of device. Objective− Given their versatility, these structures can be-come a useful tool in the assistance of rehabilitation work of human upper and lower limbs, and in some cases, such as this work for example, help patients with paralysis in their limbs for the development of activities as complex as human walking. Methodology−Although there are some important advances in this area, it is still in the research phase and many of the developments are not yet available or affordable for massive use in countries such as Colombia and Latin America in gen-eral. From this point of view and as a contribution to the de-velopment of this area in the country, this work presents the development of an active exoskeleton, which was designed to assist in the rehabilitation of patients who have had some type of sequelae as a result of a Brain Vascular Accident (stroke), also known as Stroke.Results− The article includes information on the modeling, design, control and construction of the exoskeletal device, as well as the development of preliminary tests aimed at show-ing its use in the development of repetition tests in the sagit-tal plane.Conclusions− The result of these analyses shows the poten-tial of the system developed for its application in this type of rehabilitation therapies.
topic exoskeleton
cerebrovascular accident
rehabilitation
lower limb
control
prototype
url https://revistascientificas.cuc.edu.co/ingecuc/article/view/1975
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