Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
ELBOW MODULE VALIDATION OF A ROBOTIC ORTHOSIS FOR STROKE REHABILITATION
Submission Author:
Guilherme de Paula Rúbio , MG
Co-Authors:
Guilherme de Paula Rúbio, Fernanda Márcia Rodrigues Martins Ferreira, Rina Mariane Alves Dutra, Arthur Mazzini da Mata, João Paulo Fernandes Bonfim, Claysson Vimieiro
Presenter: Guilherme de Paula Rúbio
doi://10.26678/ABCM.COBEM2021.COB2021-1037
Abstract
Stroke is a common disease that affects countless people around the world, resulting in sequels in the upper limbs. An upper limb robotic orthosis was developed at LabBio to help post stroke people’s rehabilitation. In this study was aimed to theoretically and numerically validate its elbow module through kinematics and dynamics models. For this was used Euler vectorial analysis and finite element method, with Mechanical® module of Ansys®, to ensure the correct functioning of the device, effectiveness, structural integrity, and safety before testing on humans. To movement the user’s forearm was estimated torque of 4.8 Nm, however the actuator output torque is greater than the estimated torque, presenting a maximum of 12 Nm. Validating the module to clinical tests, the forearm rod has the maximum stress of 24.98 MPa and strain of 0.012%, with a safety factor of 3.8, and the arm structure has maximum stress of 49.72 MPa, and strain of 0.082%, with a safety factor of 1.91, ensuring the safety and capacity of the elbow module in rehabilitation.
Keywords
robotic orthosis, elbow joint, theoretically validate, vectorial analysis, structural analysis
