TRABALHOS DE FIM DE CURSO @PUC-Rio
| Título: | PASSIVE EXOSKELETON DESIGN FOR MUSCLE REHABILITATION USING NONLINEAR SPRINGS | ||||||||||||
| Autor(es): |
MATHIAS MOURA KELLER |
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| Colaborador(es): |
MARCO ANTONIO MEGGIOLARO - Orientador |
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| Catalogação: | 21/DEZ/2023 | Língua(s): | PORTUGUESE - BRAZIL |
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| Tipo: | TEXT | Subtipo: | SENIOR PROJECT | ||||||||||
| Notas: |
[pt] Todos os dados constantes dos documentos são de inteira responsabilidade de seus autores. Os dados utilizados nas descrições dos documentos estão em conformidade com os sistemas da administração da PUC-Rio. [en] All data contained in the documents are the sole responsibility of the authors. The data used in the descriptions of the documents are in conformity with the systems of the administration of PUC-Rio. |
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| Referência(s): |
[pt] https://www.maxwell.vrac.puc-rio.br/projetosEspeciais/TFCs/consultas/conteudo.php?strSecao=resultado&nrSeq=65669@1 [en] https://www.maxwell.vrac.puc-rio.br/projetosEspeciais/TFCs/consultas/conteudo.php?strSecao=resultado&nrSeq=65669@2 |
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| DOI: | https://doi.org/10.17771/PUCRio.acad.65669 | ||||||||||||
| Resumo: | |||||||||||||
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The present work aims to generate and analyze simulation results related
to the behavior of linear and non-linear springs in the application of passive
exoskeletons. The goal is to validate the feasibility of using non-linear
springs for more efficient and comfortable designs for users.
For such simulations, biomechanical behaviors during stair climbing were
studied, as it is one of the movements that demands the most force in daily
activities.
The simulation was conducted by modeling the exoskeleton as a 2-degreeof-freedom robotic arm and coupling a spring in the simulation model. This
allowed the analysis of energy variations in the system under various
configurations and mechanical resistances of springs.
To validate the simulation, a test was conducted with a humanoid robot. The
test involved attaching a spring to its leg and analyzing the battery
consumption during a repetitive movement. This led to the conclusion that
the application of springs has an effect consistent with the simulation.
In conclusion, comparing the results reveals a potential application for nonlinear springs in the system. These exhibited a more attractive behavior
when compared to linear springs.
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