Nueva estrategia háptica para rehabilitación de miembros inferiores con CDPR
DOI:
https://doi.org/10.17979/ja-cea.2026.47.13734Palabras clave:
Automatización centrada en el ser humano, Mecatrónica para sistemas robóticos, Robótica médica y de rehabilitación, Interacción entre humanos y robots, Percepción y detección robóticaResumen
Este trabajo presenta una estrategia de control háptico para un robot paralelo accionado por cables con gran espacio de trabajo, diseñado para asistir la rehabilitación de la marcha en miembros inferiores. La propuesta utiliza un arnés como interfaz de entrada, estimando la intención locomotora a partir de las fuerzas medidas en cuatro células de carga de las que cuelgan las correspondientes correas y de la orientación corporal obtenida con un encoder absoluto. Con esta información, el controlador genera consignas de velocidad en el plano horizontal y ajusta la posición vertical del efector final (del que cuelga el arnés) para regular la descarga parcial de peso. La validación técnica se realiza con participantes sanos durante un recorrido en lemniscata, con tramos rectilíneos, zonas curvas y cambios de dirección. Los resultados muestran que el sistema genera asistencia horizontal continua a partir de la interacción usuario-arnés y la combina con el control vertical de la carga soportada.
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Derechos de autor 2026 Enrique Riveiro, Diego Silva-Muñiz, Uxía Pérez-García, Julio Garrido
Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-CompartirIgual 4.0.
