Thesis DISEÑO Y ANÁLISIS DE UN SISTEMA EXOESQUELÉTICO PARA APOYO TÉCNICO
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Date
2022
Authors
GARCÍA PICASSO, GABRIEL IGNACIO
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Abstract
Usando la metodología de diseño de Morris Asimow, se generó un diseño conceptual de un sistema exoesquelético orientado a reducir la probabilidad de caída en adultos mayores que pueden caminar de forma normal, pero que por su edad se encuentran en un alto riesgo de sufrir caídas, las que podrían llegar a generar lesiones de un impacto significativo. El sistema exoesquelético diseñado consiste en un equipo ligero y ergonómico que se acopla al usuario en la cintura y parte superior de las rodillas. Utilizando sensores y un sistema de control basado en la posición del usuario, éste equipo monitorea permanentemente el movimiento del usuario mientras camina, y cuando detecta un patrón de movimiento que se aleja demasiado de lo esperado, se interpreta como un resbalón o tropiezo y se activan los actuadores para asistir al usuario en la recuperación del equilibrio, evitando así que una caída ocurra. Los actuadores consisten en dos motores eléctricos de corriente continua ubicados a la altura de la cadera del usuario. Para alimentar a los actuadores, sensores y sistema de control, se utiliza una batería de ion de litio ubicada a la altura de la espalda del usuario. Adicionalmente, se seleccionó uno de los eslabones del sistema exoesquelético diseñado para aplicar una optimización topológica sobre este, la que consistió en rediseñar el eslabón, buscando reducir al máximo la masa de la pieza, al mismo tiempo que se mantiene al máximo la rigidez de esta misma, optimizando así el uso de materiales utilizados y haciendo más ligero al equipo, lo que es fundamental para que su uso sea agradable y efectivo para el usuario. Como resultado se logró reducir la masa de la pieza optimizada en un 49%, mientras que la deformación máxima aumento en un 255%.
Using Morris Asimow's design methodology, a conceptual design of an exoskeleton system was generated aimed at reducing the probability of falling in older adults who can walk normally, but who are at high risk of falling due to their age. This falls could lead to significant impact injuries. The designed exoskeletal system consists of lightweight, ergonomic equipment that attaches to the user at the waist and upper knees. Using sensors and a control system based on the user's position, this equipment permanently monitors user movements during the gait, and when it detects a movement pattern that is too far from expected, it is interpreted as a slip or trip and the actuators are activated to assist the user in regaining balance, thus preventing a fall from occurring. The actuators consist of two DC electric motors located at the user's hip height. To power the actuators, sensors and control system, a lithium ion battery located at the height of the user's back is used. Additionally, one of the links of the designed exoskeletal system was selected to apply a topological optimization on it, which consisted of redesigning the link, seeking to reduce the mass of the piece as much as possible, while maintaining its stiffness as much as possible, optimizing the use of materials used and making the equipment lighter, which is essential for its use to be pleasant and effective for the user. As a result, the mass of the optimized part was reduced by 49%, while the maximum deformation increased by 255%.
Using Morris Asimow's design methodology, a conceptual design of an exoskeleton system was generated aimed at reducing the probability of falling in older adults who can walk normally, but who are at high risk of falling due to their age. This falls could lead to significant impact injuries. The designed exoskeletal system consists of lightweight, ergonomic equipment that attaches to the user at the waist and upper knees. Using sensors and a control system based on the user's position, this equipment permanently monitors user movements during the gait, and when it detects a movement pattern that is too far from expected, it is interpreted as a slip or trip and the actuators are activated to assist the user in regaining balance, thus preventing a fall from occurring. The actuators consist of two DC electric motors located at the user's hip height. To power the actuators, sensors and control system, a lithium ion battery located at the height of the user's back is used. Additionally, one of the links of the designed exoskeletal system was selected to apply a topological optimization on it, which consisted of redesigning the link, seeking to reduce the mass of the piece as much as possible, while maintaining its stiffness as much as possible, optimizing the use of materials used and making the equipment lighter, which is essential for its use to be pleasant and effective for the user. As a result, the mass of the optimized part was reduced by 49%, while the maximum deformation increased by 255%.
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Keywords
BIOMECANICA , LOCOMOCION HUMANA , ACCIDENTES