Show simple item record

dc.contributorCasals Gelpi, Alicia
dc.contributorVinagre Ruiz, Manuel
dc.contributor.authorFernández Gutiérrez, Andrés Felipe
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.description.abstractThe mobility of the lower extremities may be affected by neurological conditions such as stroke or spinal cord injury. When, motor function, gait coordination and muscle strength are impaired. Rehabilitation can improve the autonomy of legs movement in order to carry out everyday tasks such as walking or stand up, also known as a Sit-To-stand. Sit-To-Stand is a task that requires considerable effort for those who have suffered a stroke or other type of injury. To perform the Sit-To-stand movement there are variables such as force, velocities, position angles, among others that can be modeled with the use of robotic exoskeletons. This project develops a Sit-To-Stand control strategy implemented in a robotic exoskeleton. This is based on previous work on the development of control strategies for the rehabilitation of the Sit-ToStand. Where Sit-To-Stand transition phases combined with position and admittance control strategies are used. The objectives of this project are to find optimal values of the angles of the joints involved in the transition of the phases and to propose an improvement in the control strategy to assist people with lower extremities movements.
dc.publisherUniversitat Politècnica de Catalunya
dc.subjectÀrees temàtiques de la UPC::Enginyeria biomèdica
dc.subject.lcshRobotic exoskeletons
dc.subject.otherLower limbs
dc.subject.otherRobotic exoskeleton
dc.titleTuning and evaluation of a control strategy of an exoskeleton for sit-to-stand motion
dc.typeBachelor thesis
dc.subject.lemacExosquelets robòtics
dc.rights.accessOpen Access
dc.audience.mediatorEscola d'Enginyeria de Barcelona Est

Files in this item


This item appears in the following Collection(s)

Show simple item record

All rights reserved. This work is protected by the corresponding intellectual and industrial property rights. Without prejudice to any existing legal exemptions, reproduction, distribution, public communication or transformation of this work are prohibited without permission of the copyright holder