Projeto de robô para reabilitação de indivíduos com perda da mobilidade no tornozelo com estimulação biomimética

Abstract

The human gait is the fundamental element of mobility, its reduction or loss deeply affects the lives of human beings. Robotics has many aspects to be studied, including the rehabilitation of people recovering from injuries that led to the reduction or loss of mobility. The assisted rehabilitation, which are used robots to perform prescribed exercises by a physiotherapist. As regards the dynamics of the human gait lower limbs, in particular, the ankle joint has a great importance. To study the biomechanical aspects of this joint and develop robotic devices able to reproduce its kinematics and kinetic characteristics, will result in reducing the recovery time is an accident or injury to a subsequent stroke. Existing robotic devices in development has been focused on the recovery of motor control and muscle mass gain. However, for individuals who need to recover after long time bedridden, it has associated with the loss of mobility reduction of bone mass. Thus, this work seeks to understand the processes related to the development of robotic devices with a focus on creating incentives for osteogenesis, where two factors are very important. The first consists of reproducing the reaction curve to the ground (GRF), the second it is the generation of mechanical vibrations in stages of the foot contact with the ground, associated both to normal gait physiology. Thus, it is possible to obtain a complete and normal physiological response associated with the human gait reproduced by robotic devices