Development and evaluation of a bowden cables-based actuation system for an ankle exoskeleton for people with stroke
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memoria-daniel-salvador-luna.pdf (3,036Mb) (Accés restringit)
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Inclou dades d'ús des de 2022
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hdl:2117/346985
Realitzat a/ambABLE Human Motion
Tipus de documentTreball Final de Grau
Data2021-05-28
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Abstract
Introduction: Ankle exoskeletons are emerging as a promising solution to accelerate post-stroke gait rehabilitation. One key element for the effectiveness of the exoskeleton is the weight distribution not to influence the comfort and metabolic cost. Bowden cables transmissions are an alternative solution to on-joint actuation that allows for a redistribution of the weight of the actuators from distal parts to more proximal ones. Methods: A Bowden cables-based actuation testbench has been developed considering biomechanical factors of unimpaired and post-stroke subjects to validate the feasibility of this mechanical transmission. Efficiency and ROM gain between the input and the output of the system have been measured taking into account: (1) the lubrication of the cables, (2) preload levels and (3) output load working range in different experimental conditions while emulating the ankle passive impedance of post-stroke adults. Results & Discussion: For this specific transmission and some previously defined experimental factor levels, efficiency of the system increased with: (1) PTFE-based dry lubrication, (2) higher preload levels and (3) higher output loads. Regarding the ROM gain, it increased with (1) higher preload levels and (2) lower output loads. The highest output torque of the system has been 10 Nm with a working efficiency around 70% (peak efficiency of 92%) and a ROM gain of 0.7745±0.0063. Conclusions: The proposed Bowden cables-based actuation system showed a great potential to be implemented in an ankle exoskeleton for people with stroke. Nevertheless, the obtained efficiency and ROM gain values have not reflected a great performance for the designed transmission. Further tests should be carried out with new materials, a redesign of the preloading mechanism and the use of more powerful actuators.
MatèriesCerebral ischemia -- Patients -- Rehabilitation, Orthopedic implants -- Design and construction, Artificial joints, Isquèmia cerebral -- Pacients -- Rehabilitació, Pròtesis ortopèdiques -- Disseny i construcció, Articulacions artificials
TitulacióGRAU EN ENGINYERIA EN TECNOLOGIES INDUSTRIALS (Pla 2010)
Fitxers | Descripció | Mida | Format | Visualitza |
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memoria-daniel-salvador-luna.pdf | 3,036Mb | Accés restringit | ||
annexes.pdf | 5,781Mb | Accés restringit |