Implementación computacional de un prototipo de sistema robótico para asistir en la rehabilitación del movimiento de flexión y extensión del codo de personas afectadas por un accidente cerebrovascular

Abstract

The intense motor rehabilitation therapies generate physical fatigue on therapist and reduce the efficiency of rehabilitation therapy. For this reason, robotic systems have been developed to assist in the rehabilitation process. Clinical studies indicate that therapies assisted with these robotic modules achieve greater motor recovery than traditional therapies. The objective of this work is to computationally implement a prototype of a robotic system to assist in the motor rehabilitation of flexion and extension movements of elbow. The robotic system offers three modes of operation and two rehabilitation exercises focused on the recovery of motor control of elbow movements. Finally, the prototype uses the UR5 robot from Universal Robots and a graphical user interface to configure the rehabilitation exercise. The robotic rehabilitation system uses two methods of movement control for its correct operation. On the one hand, adaptive control allow to maintain an adequate trajectory tracking for different values of arm mass of each patient. On the other hand, impedance control guarantee to maintain safe interaction with patient’s arm. The computational implementation of the robotic system with the two control methods has been done in Gazebo dynamic simulator. Finally, AnyBody musculoskeletal modeling program has been used to verify the muscular activation of the patient arm with the two rehabilitation exercises.

Date of Award	2022
Original language	Spanish (Peru)
Supervisor	Ruth Canahuire Cabello (Asesor)