Sistema de rigidez variable controlable para exoesqueletos de rehabilitación
DOI:
https://doi.org/10.17979/ja-cea.2025.46.12209Palabras clave:
Mecatrónica biomédica, Mecatrónica humana y robótica, Estructuras inteligentes, Sistemas de Control de Movimiento, Computación centrada en el ser humano, Modelado del rendimiento humano, Diseño analíticoResumen
La creciente necesidad de terapias de rehabilitación efectivas ha impulsado el desarrollo de exoesqueletos robóticos, particularmente los blandos, por su mayor adaptabilidad y comodidad frente a sistemas rígidos convencionales. Este trabajo presenta el diseño de un sistema inteligente de rigidez variable (SRV) aplicable a exoesqueletos blandos de rehabilitación, controlado mediante actuadores de aleaciones con memoria de forma (SMA) y sensorizado en fuerza y posición. El SRV propuesto permite alternar entre estados de rigidez y flexibilidad para asistir tanto en terapias pasivas como activas, proporcionando resistencia controlada e inmovilización selectiva de grados de libertad, y promoviendo así la neuroactivación y el fortalecimiento muscular. Además, la integración de sensores permite cuantificar métricas relevantes para la evaluación clínica objetiva del progreso del paciente. El trabajo presenta el diseño de la arquitectura del sistema y la evaluación de los criterios de diseño, escalabilidad y viabilidad del sistema, destacando su potencial para mejorar la eficacia de programas de rehabilitación y promover su estandarización y accesibilidad.
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Derechos de autor 2025 Sofía Margarita Die Pancorbo, Dorin Copaci, Dolores Blanco
Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-CompartirIgual 4.0.
