Construcción de un sistema inteligente de rehabilitación motriz para extremidades superiores basado en algoritmos de control y monitoreo

Abstract

The present degree work, called construction of an inteligent motor rehabilitatión system for upper limbs base on control and monitoring algorithms, aims to allow adequate rehabilitation through regenerative exercises, which promotes self-rehabilitation from the comfort of your home, always under the continuous control of a specialist. The development of the research work was contemplated as a first instance in an identification and literature review on anthropometric measurement, as well as the development of a rehabilitation protocol defined for the rehabilitation process of upper limbs, then the generation of an original model for the assistance to the rehabilitation process using SolidWorks software, the selection of appropriate hardware and software for the implementation of a control system and a human machine interface (HMI) for handling the equipment was performed. Then, the implementation of the equipment to assist the rehabilitation process was performed, ending with the validation of the equipment through functional tests obtaining percentage values for the positive angles with load, with an error of 9.63% and without load an error of 4%, where admissible percentages are shown in each repetition of the different degrees of freedom in different levels, concluding with the obtaining of numerical results and comparison graphs for an adequate validity and acceptance of the prototype. A minimun percentage of error is reflected for the negative angles (without load – with load), especially in the degree of freedom corresponding to the elbow, due to the fact that recovery movements of less than zero degrees are not feasible. It is recommended to perform tests on people from other locations to obtain better data to be analyzed, in the same way, to perform simulation of each of the parts that make up the external structure of the prototype using other simulation software.