Thesis DESARROLLO DE EXOESQUELETO ROBÓTICO DE BAJO COSTO PARA REHABILITACIÓN MOTORA DE MANOS Y DEDOS DE PACIENTES EN TRATAMIENTO DE ACCIDENTE CEREBROVASCULAR.
Date
2017
Authors
SEREY CAMBIASO, MARTÍN JOSÉ
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Abstract
El presente trabajo comprende el desarrollo de la memoria de título, en relación a un prototipo tangible, creado a partir de una oportunidad detectada.Los accidentes cerebrovasculares son la segunda causa de muerte a nivel mundial y en Chile se posicionan como la primera. Del total de personas que logra sobrevivir, se estima que un 80%, equivalente a 12.768 personas, se verían beneficiadas luego de un proceso de rehabilitación. Actualmente existen soluciones robóticas que complementan la terapia pero su precio es prohibitivo para los Hospitales. El objetivo de este trabajo es generar un exoesqueleto robótico de rehabilitación motora de manos y dedos de bajo costo para ser aplicado en el contexto del sistema de salud pública de Chile del cual se espera aumentar la tasa de El presente trabajo comprende el desarrollo de la memoria de título, en relación a un prototipo tangible, creado a partir de una oportunidad detectada.Los accidentes cerebrovasculares son la segunda causa de muerte a nivel mundial y en Chile se posicionan como la primera. Del total de personas que logra sobrevivir, se estima que un 80%, equivalente a 12.768 personas, se verían beneficiadas luego de un proceso de rehabilitación. Actualmente existen soluciones robóticas que complementan la terapia pero su precio es prohibitivo para los Hospitales. El objetivo de este trabajo es generar un exoesqueleto robótico de rehabilitación motora de manos y dedos de bajo costo para ser aplicado en el contexto del sistema de salud pública de Chile del cual se espera aumentar la tasa de mano a rehabilitar de aproximadamente 1,5 a 2 segundos. Esto significa que la imitación del movimiento de manera espejo no se da, por lo que se recomienda que el trabajo futuro se focalice en este sistema.La validación del prototipo se realizó en personas sanos, donde se comprobó que el dispositivo es capaz de generar los movimientos deseados.
The present work present the development of a tangible prototype, created from a discovered opportunity.Strokes are the second cause of death worldwide and in Chile are the top one. Is estimated that the 80% of survivors, equivalent of 12.768 individuals, would be benefit of a rehabilitation process. Currently, there are robotic solutions that assist therapy, but the high prices are prohibitive for Chilean Hospitals. The objective of this work is to develop a low cost robotic exoskeleton for hand and finger motor rehabilitation after stroke to be implemented under the public Chilean health system context. Is expected that this device increments the treatment rate, achieve better rehabilitation results and keep an affordable price for public rehabilitation establishments. The device aims to accomplish this objectives mixing mirror therapy and passive movements therapy of the hand, allowing the patient to practice the therapy without the active supervision of a therapist.The apparatus consist in a glove with flexor sensor for each finger that register the specific movement of the healthy hand. The signals are then processed by a microcontroller that translate them into servomotors rotation, specific to mimic individually finger movement. The circular rotation of the servos are then transfer to the exoskeleton by tensors which actively generate the flexion and extension moves of the fingers in the hand to be rehabilitated.The result of this work consist in the mix of a soft and rigid structure exoskeleton. The soft, fabric parts covers the fingers, allowing them to move in all the naturals degrees of freedom and the rigid ones fix the wrist in a semi flexion position and guides the tensors to the fingers. This allows a full motion for each finger, except the thumb. Both moves are actively generated by tensors based in the simplification of the tendon system of the hand. This also allows generate pinching between thumb and index finger. Another aspect is the periodization of the movements over the sensitivity of the extremity with objects interactions. This responds to that is expected that the repetitive movements are more important for neuroplasticity stimulation. Additionally to the exoskeleton, the development of the actuator system and a tension calibration system was necessary to test the exoskeleton.Although the exoskeleton generates the expected movements, there’s a gap of 1,5 to 2 seconds between the healthy hand and the one to rehabilitate. This time can be reduce if the hand moves slowly. This mean that the mirror therapy is not fully accomplished, so in order to generate a better rehabilitation this problem should be addressed.La validación del prototipo se realizó en pacientes sanos, donde se comprobó que el dispositivo es capaz de generar los movimientos deseados.The validation of this prototype consisted in using the device in healthy people, in which was proven that the device generate the expected moves .
The present work present the development of a tangible prototype, created from a discovered opportunity.Strokes are the second cause of death worldwide and in Chile are the top one. Is estimated that the 80% of survivors, equivalent of 12.768 individuals, would be benefit of a rehabilitation process. Currently, there are robotic solutions that assist therapy, but the high prices are prohibitive for Chilean Hospitals. The objective of this work is to develop a low cost robotic exoskeleton for hand and finger motor rehabilitation after stroke to be implemented under the public Chilean health system context. Is expected that this device increments the treatment rate, achieve better rehabilitation results and keep an affordable price for public rehabilitation establishments. The device aims to accomplish this objectives mixing mirror therapy and passive movements therapy of the hand, allowing the patient to practice the therapy without the active supervision of a therapist.The apparatus consist in a glove with flexor sensor for each finger that register the specific movement of the healthy hand. The signals are then processed by a microcontroller that translate them into servomotors rotation, specific to mimic individually finger movement. The circular rotation of the servos are then transfer to the exoskeleton by tensors which actively generate the flexion and extension moves of the fingers in the hand to be rehabilitated.The result of this work consist in the mix of a soft and rigid structure exoskeleton. The soft, fabric parts covers the fingers, allowing them to move in all the naturals degrees of freedom and the rigid ones fix the wrist in a semi flexion position and guides the tensors to the fingers. This allows a full motion for each finger, except the thumb. Both moves are actively generated by tensors based in the simplification of the tendon system of the hand. This also allows generate pinching between thumb and index finger. Another aspect is the periodization of the movements over the sensitivity of the extremity with objects interactions. This responds to that is expected that the repetitive movements are more important for neuroplasticity stimulation. Additionally to the exoskeleton, the development of the actuator system and a tension calibration system was necessary to test the exoskeleton.Although the exoskeleton generates the expected movements, there’s a gap of 1,5 to 2 seconds between the healthy hand and the one to rehabilitate. This time can be reduce if the hand moves slowly. This mean that the mirror therapy is not fully accomplished, so in order to generate a better rehabilitation this problem should be addressed.La validación del prototipo se realizó en pacientes sanos, donde se comprobó que el dispositivo es capaz de generar los movimientos deseados.The validation of this prototype consisted in using the device in healthy people, in which was proven that the device generate the expected moves .
Description
Catalogado desde la version PDF de la tesis.
Keywords
ACCIDENTE CEREBROVASCULAR , EXOESQUELETO ROBOTICO , REHABILITACION MOTORA