Modelling, simulation and optimization of a robotic assistive device for patients with spinal cord injury
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Data2022-07-22
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Abstract
Robotic gait assistance devices can help the rehabilitation and quality of life of the patients who suffer from spinal cord injury or other neuromuscular disease. The main objective of this bachelor’s thesis in Industrial Technologies Engineering is fo- cused on the obtention of a model of a lower limb exoskeleton and the modelling of the device-user interface contact model in OpenSim which is an open source software de- veloped by the Stanford University. With this model, the final goal pursued is to make predictive simulations of the motion with a biomechanical model of a patient. The results of this thesis can be used to study mechanics involved in a motion of a patient wearing this type of exoskeleton. This thesis contains a relevant background on the topic followed by a practical part where the modelling, simulation and optimization of an exoskeleton is made. The first step is to create a biomechanical model of an exoskeleton using OpenSim. The human body is modelled with a multibody system using rigid bodies. A simple three- dimensional model of a human body formed by 12 bodies simulated as a HAT (head, arms and trunk) is used to add a two bodies exoskeleton. There are three different approaches studied to add this exoskeleton to the human body. Thus, three biomechanical models are created and studied. Secondly, five motions are captured in the UPC Biomechanics Laboratory in order to per- form the kinematic and dynamic simulations in OpenSim. The final practical step is to use the captured motion to study the behaviour of the ex- oskeleton in the laboratory, and then adjust the mechanical parameters set when mod- elling the device-user contact interface. Adjusting the mechanical parameters of the bush- ing forces is not evident. Thus, a methodology to find them is created. Finally, the model found of the exoskeleton is studied dynamically. Predictive simulations are performed with it, where the motion of the exoskeleton is simulated when the motion of a person wearing it is prescribed. The results of this thesis are satisfactory because a fully functional model of an exoskele- ton validated using real data captured from a real motion. The kinematic and dynamic analysis seen in this project show positive results and aim to be a precedent for future studies in this research. Nevertheless, there is still future work to be done testing the exoskeleton on more patients and analysing the results in a wider variety of tests. Fur- thermore, further research on this topic can be done in some areas such as automation of the process of calibrating the mechanical properties of the bushing forces, so more types of exoskeletons can be used.
MatèriesSpinal cord--Wounds and injuries, Robotics in medicine, Medul·la espinal--Ferides i lesions, Robòtica en medicina
TitulacióGRAU EN ENGINYERIA EN TECNOLOGIES INDUSTRIALS (Pla 2010)
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