Diseño y construcción de un prototipo para la restauración músculo-esquelética de un miembro inferior, con un mecanismo espacial de cadena cinemática cerrada.

Abstract

The research aimed to design and build a prototype robot for the skeletal muscle restoration of a lower limb through a study of the degrees of mobility of the ankle and knee, to select the most appropriate mechanism, the implementation of a closed kinematic chain parallel robot to generate the different restoration movements that a lower limb needs, for which the inverse kinematic problem of the 6 degrees of freedom Stewart platform was solved to position the mobile rehabilitation platform in the desired location, to which was designed and built a structure, using a previous finite element analysis, thus ensuring the correct mechanical operation of the structure during the rehabilitation, finally a control using an Arduino card was implemented to position the electric linear actuators of the parallel robot, using offset values nt of the actuators calculated based on the solution of the inverse kinematics solved by the Matlab software for each of the rehabilitation positions, until achieving the restoration movement sequence of the lower limb. According to the tests carried out, it was determined that the prototype is capable of generating restoration movements for the ankle, such as; adduction with an angle of 33˚, abduction with 24˚, inversion with 24.9˚, eversion with 15˚, dorsal flexion with 17˚, plantar flexion with 45˚, as well as knee movements being these; extension with an angle of 27˚ and flexion with 28 ˚. The prototype is capable of generating the progress necessary for a lower limb restoration since it was validated by a physiotherapy specialist; however, there are other important factors that can be taken into account in future works such as the speed of movement of the rehabilitation and range of patient pain.