Simulación de un prototipo virtual de órtesis robótica para rodilla

Agustín Barrera Sánchez; Héctor Ramón Azcaray Rivera; Andrés Blanco Ortega; Rafael Campos Amezcua; Arturo Abúndez Pliego; Jhonatan Isidro Godoy

doi:10.37636/recit.v7n4e374

Authors

Agustín Barrera Sánchez Departamento de Ingeniería Mecánica, Tecnológico Nacional de México, Centro Nacional de Investigación y Desarrollo Tecnológico, Interior Internado Palmira S/N, Col. Palmira, C.P. 62490 Cuernavaca, Morelos. https://orcid.org/0000-0002-4547-3739
Héctor Ramón Azcaray Rivera Tecnológico Nacional de México, Instituto Tecnológico de Oaxaca, Francisco I. Madero, Instituto Tecnológico de Oaxaca, 68033 Oaxaca de Juárez, Oaxaca, México
Andrés Blanco Ortega Departamento de Ingeniería Mecánica, Tecnológico Nacional de México, Centro Nacional de Investigación y Desarrollo Tecnológico, Interior Internado Palmira S/N, Col. Palmira, C.P. 62490 Cuernavaca, Morelos. https://orcid.org/0000-0002-0088-6863
Rafael Campos Amezcua Departamento de Ingeniería Mecánica, Tecnológico Nacional de México, Centro Nacional de Investigación y Desarrollo Tecnológico, Interior Internado Palmira S/N, Col. Palmira, C.P. 62490 Cuernavaca, Morelos. https://orcid.org/0000-0003-3380-2598
Arturo Abúndez Pliego Departamento de Ingeniería Mecánica, Tecnológico Nacional de México, Centro Nacional de Investigación y Desarrollo Tecnológico, Interior Internado Palmira S/N, Col. Palmira, C.P. 62490 Cuernavaca, Morelos https://orcid.org/0000-0001-8220-4338
Jhonatan Isidro Godoy Departamento de Ingeniería Mecánica, Tecnológico Nacional de México, Centro Nacional de Investigación y Desarrollo Tecnológico, Interior Internado Palmira S/N, Col. Palmira, C.P. 62490 Cuernavaca, Morelos https://orcid.org/0000-0001-7943-0684

DOI:

https://doi.org/10.37636/recit.v7n4e374

Keywords:

Knee orthosis, MSC Adams, Orthosis control, Orthosis exoskeleton

Abstract

The complexity in the movements of the daily activity that people perform, causes them to recurrently suffer from some type of injury in the extremities (upper/lower); being the most common damage in the knee joint, partially or totally affecting mobility. Recent studies indicate that the use of biomechanical orthopedic devices, such as orthoses, facilitates rehabilitation and accelerates recovery from such injuries. The main objective of the design of knee orthoses is to improve mobility, stability and stiffness of the affected limb. This paper presents the process for the simulation of the flexion and extension movements of a virtual prototype of a knee orthosis, obtaining as a result the simulation and co-simulation between MSC Adams® and Simulink-Matlab®. To show the simulation process, a PID type control is implemented to follow the trajectories of the virtual prototype of the knee orthosis, using a Bézier polynomial. The results show a good performance in the trajectory tracking, obtaining a desired trajectory of a maximum bending of 2π/3 rad, with an approximate error of 0.0124 radians with respect to the desired trajectory.

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