Soft hand exoskeleton with SMA actuation of each finger separately

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dc.contributor.advisor Copaci, Dorin Sabin Enríquez Calzada, Patricia 2019-10-28T17:57:53Z 2019-10-28T17:57:53Z 2018-07 2018-07-02
dc.description.abstract This Project, grounded on a previously undertaken Master’s Final Project (TFM) by Gabriela Verdezoto, develops a soft hand exoskeleton actuated by SMA (Shape Memory Alloy) for the rehabilitation of patients with low hand mobility. The use of 6 SMA cables as actuators allows the movement of each finger independently to perform complex exercises as well as opening and closing the whole hand at once. The device consists on steely cables sewed to a glove in a way that allows a correct flexion and extension of the fingers when being pulled. The cables are connected to the SMA through a cage with position sensors. The electronics consist on a STM32F407VG Discovery kit microcontroller and a power stage that regulates the current delivered to the SMA. A MATLAB Simulink program controls it all. The main objectives of the device are: to be light, cheap and simple to use. The performance of the planned movements is achieved, and an optimization in the electronic system and software is performed to take a step forward in the design of a future rehabilitation device for clinical use.
dc.language.iso eng
dc.rights Atribución-NoComercial-SinDerivadas 3.0 España
dc.subject.other Exoskeleton
dc.subject.other SMA (Shape Memory Alloy)
dc.subject.other Rehabilitation
dc.subject.other Control systems
dc.title Soft hand exoskeleton with SMA actuation of each finger separately
dc.type bachelorThesis
dc.subject.eciencia Biología y Biomedicina
dc.rights.accessRights openAccess Grado en Ingeniería Biomédica (Plan 2010)
dc.contributor.departamento Universidad Carlos III de Madrid. Departamento de Ingeniería de Sistemas y Automática
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