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Plataforma de asistencia teleoperada para miembro superior humano

dc.contributor.advisorAviles, Oscar F.spa
dc.contributor.advisorMauledeux, Mauriciospa
dc.contributor.authorRivera Paez, Cindy Tatiana
dc.contributor.authorPastor Alvarez, Hernán Steven
dc.coverage.spatialCalle 100spa
dc.date.accessioned2018-02-19T20:06:24Z
dc.date.accessioned2019-12-26T22:08:37Z
dc.date.available2018-02-19T20:06:24Z
dc.date.available2019-12-26T22:08:37Z
dc.date.issued2017-09-21
dc.identifier.urihttp://hdl.handle.net/10654/17096
dc.description.abstractEn este artículo se propone una plataforma de asistencia para miembro superior humano que comprende un exoesqueleto pasivo inalambrico para captura de movimiento, basado en sensores inerciales y resistores flexibles, el cual es capaz de medir 6 grados de libertad del brazo (distribuidos de la siguiente forma . hombro: flexo-extensión, abducción-aducción y rotación interna-externa; codo: flexo-extensión y supino-pronación; muñeca: flexo-extensión) además del estado de la mano (abierto-cerrado), un brazo robótico antropomórfico de 6 GDL y un sistema de visión por computadora. La plataforma opera en un espacio de trabajo acotado por las dimensiones de un escritorio y tiene dos modos de operación: teleoperado, el brazo robótico (esclavo) es controlado por el usuario mediante el uso del exoesqueleto (maestro) y autónomo, el brazo robótico ejecuta tareas almacenadas en la memoria de forma independiente, haciendo uso del sistema de visión por computadora.spa
dc.format.extent228 páginas : fotos, gráficos, imágenes, tablas.spa
dc.format.mimetypeapplication/pdfspa
dc.language.isospaspa
dc.rightsDerechos Reservados - Universidad Militar Nueva Granada, 2017spa
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/2.5/co/spa
dc.titlePlataforma de asistencia teleoperada para miembro superior humanospa
dc.typeinfo:eu-repo/semantics/bachelorThesisspa
dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.subject.lembEXOESQUELETOspa
dc.subject.lembROBOTICAspa
dc.subject.lembVISION POR COMPUTADORspa
dc.publisher.departmentFacultad de Ingenieríadspa
dc.type.localTrabajo de gradospa
dc.description.abstractenglishIn this paper is proposed an assistance platform for human’s upper limb, which is composed by an passive-wireless exoskeleton for tracking motion based on inertial and flex sensors, it is capable of measuring 6 DOF of the human’s arm (whose are distributed as follows, shoulder: flexion-extension, abduction-adduction and external-internal rotation; elbow: flexion-extension and supination-pronation; wrist (flexion-extension) in addition is able to detect the state of the hand (opened-closed), a 6-DOF anthropomorphic robot arm and a computer vision system. The platform operates in a workspace bounded by the dimensions of a desktop and it has to execution modes: teleoperated, in which the robot arm (slave) is controlled by the user by using the exoskeleton (master), and autonomous, in which the robot arm execute tasks that has been stored in the memory independently by using the computer vision system.eng
dc.title.translatedTeleoperated assistance platform for human upper limbspa
dc.subject.keywordsUpper Limb Exoskeletonspa
dc.subject.keywordsAnthropomorphic robotic armspa
dc.subject.keywordsTeleoperationspa
dc.subject.keywordsMotion capture systemspa
dc.subject.keywordsDesktop roboticsspa
dc.subject.keywordsComputer vision systemspa
dc.publisher.programIngeniería en Mecatrónicaspa
dc.creator.degreenameIngeniero en Mecatrónicaspa
dc.creator.degreenameIngeniero en Mecatrónicaspa
dc.description.degreelevelPregradospa
dc.publisher.facultyIngenieria - Ingenieria en Mecatrónicaspa
dc.type.driverinfo:eu-repo/semantics/bachelorThesisspa
dc.type.dcmi-type-vocabularyTextspa
dc.type.versioninfo:eu-repo/semantics/acceptedVersionspa
dc.rights.creativecommonsAtribución-NoComercial-SinDerivadasspa
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dc.subject.proposalExoesqueleto de miembro superiorspa
dc.subject.proposalBrazo robótico antropomórficospa
dc.subject.proposalTeleoperaciónspa
dc.subject.proposalSistema de captura de movimientospa
dc.subject.proposalRobótica de escritoriospa
dc.subject.proposalSistema de visión por computadoraspa
dc.publisher.grantorUniversidad Militar Nueva Granadaspa


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