Diseño mecatrónico de una órtesis flexible de rodilla para rehabilitación

David Torres; Ricardo Chaves; Sergio Cortes; Jaime Arcos Legada

doi:10.24054/rcta.v2i40.2361

Authors

David Torres Universidad de San Buenaventura https://orcid.org/0000-0002-7154-5994
Ricardo Chaves Universidad de San Buenaventura
Sergio Cortes Universidad de San Buenaventura
Jaime Arcos Legada Universidad de San Buenaventura https://orcid.org/0000-0003-4217-8248

DOI:

https://doi.org/10.24054/rcta.v2i40.2361

Keywords:

Knee orthesis, biomechatronics, mechatronic design, flexible joint, compliant joint, series elastic actuator

Abstract

This paper presents a mechatronic design of a compliant knee orthosis prototype for a gait rehabilitation. The prototype developed implements an elastic serial actuator (SEA), which is evaluated using finite element analysis method. An elastic serial actuator is coupled to a DC gearmotor that supplies the necessary torque to automate a post-surgical knee recovery therapy process. The orthosis includes two incremental encoders and a switch, which are used to develop a feedback control of the knee joint movement. In addition, a nonlinear mathematical model of the orthosis is developed and experimentally validated. Hence, a model-based control is implemented with a state feedback control strategy. Finally, the prototype is evaluated through the tracking of a smooth periodic trajectory that reproduce the movements of a therapy cycle.

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