RT Dissertation/Thesis
T1 Non-linear actuators and simulation tools for rehabilitation devices
A1 Copaci, Dorin Sabin
AB Rehabilitation robotics is a field of research that investigates the applications ofrobotics in motor function therapy for recovering the motor control and motor capability.In general, this type of rehabilitation has been found effective in therapy forpersons suffering motor disorders, especially due to stroke or spinal cord injuries. Thistype of devices generally are well tolerated by the patients also being a motivation inrehabilitation therapy. In the last years the rehabilitation robotics has become morepopular, capturing the attention at various research centers. They focused on the developmentmore effective devices in rehabilitation therapy, with a higher acceptancefactor of patients tacking into account: the financial cost, weight and comfort of thedevice.Among the rehabilitation devices, an important category is represented by therehabilitation exoskeletons, which in addition to the human skeletons help to protectand support the external human body. This became more popular between therehabilitation devices due to the easily adapting with the dynamics of human body,possibility to use them such as wearable devices and low weight and dimensions whichpermit easy transportation.Nowadays, in the development of any robotic device the simulation tools play animportant role due to their capacity to analyse the expected performance of the systemdesigned prior to manufacture. In the development of the rehabilitation devices,the biomechanical software which is capable to simulate the behaviour interactionbetween the human body and the robotics devices, play an important role. Thishelps to choose suitable actuators for the rehabilitation device, to evaluate possiblemechanical designs, and to analyse the necessary controls algorithms before beingtested in real systems.This thesis presents a research proposing an alternative solution for the currentsystems of actuation on the exoskeletons for robotic rehabilitation. The proposedsolution, has a direct impact, improving issues like device weight, noise, fabricationcosts, size an patient comfort. In order to reach the desired results, a biomechanical software based on Biomechanics of Bodies (BoB) simulator where the behaviour ofthe human body and the rehabilitation device with his actuators can be analysed,was developed.In the context of the main objective of this research, a series of actuators havebeen analysed, including solutions between the non-linear actuation systems. Betweenthese systems, two solutions have been analysed in detail: ultrasonic motorsand Shape Memory Alloy material. Due to the force - weight characteristics of eachdevice (in simulation with the human body), the Shape Memory Alloy material waschosen as principal actuator candidate for rehabilitation devices.The proposed control algorithm for the actuators based on Shape Memory Alloy,was tested over various configurations of actuators design and analysed in terms of energyeficiency, cooling deformation and movement. For the bioinspirated movements,such as the muscular group's biceps-triceps, a control algorithm capable to controltwo Shape Memory Alloy based actuators in antagonistic movement, has been developed.A segmented exoskeleton based on Shape Memory Alloy actuators for the upperlimb evaluation and rehabilitation therapy was proposed to demosntrate the eligibilityof the actuation system. This is divided in individual rehabilitation devices forthe shoulder, elbow and wrist. The results of this research was tested and validatedin the real elbow exoskeleton with two degrees of freedom developed during this thesis.
YR 2018
FD 2018-03-05
LK https://hdl.handle.net/10016/26362
UL https://hdl.handle.net/10016/26362
LA eng
NO Mención Internacional en el título de doctor
DS e-Archivo
RD 12 may. 2024