Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
Design of Actuators Applied to a Upper Limb Orthosis
Submission Author:
Guilherme de Paula Rúbio , MG
Co-Authors:
Guilherme de Paula Rúbio, Fernanda Márcia Rodrigues Martins Ferreira, Fabrício Henrique de Lisboa Brandão, Victor Machado, Leandro Tonelli, Renan Fernandes Kozan, Claysson Vimieiro
Presenter: Guilherme de Paula Rúbio
doi://10.26678/ABCM.COBEM2019.COB2019-0553
Abstract
This work aims to develop a system of low volume electromechanical actuators for an upper limb rehabilitation robotic orthosis in post-stroke individuals. Through the selection of high torque and low volume motors and the design of mechanisms to simulate the user’s hand and elbow physiological movements, transmissions systems and a control system using a microcontroller combined with a sensor, was possible developed them. Using artificial tendons system and artificial phalanges for the hand actuator and a four-bar mechanism for the elbow actuator coupled with powers screws transmission, a microcontroller STM32F103, encoder KY-040 and stop sensors for safety, it was possible developed actuators for two modulus, hand and elbow, performing the hand opening on 2.51s with 0.8Nm of torque and the elbow flexion and extension on 4.43s with 12Nm of torque, with angle control of both movements, in that way promote the user’s rehabilitation.
Keywords
Machine design, Upper limb orthosis, assistive technology
