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dc.contributor.advisorVelasco Vivas, Alexandraspa
dc.contributor.authorGuatibonza Artunduaga, Andrés Felipe
dc.contributor.otherSolaque Guzman, Leonardo Enriquespa
dc.coverage.spatialCalle 100spa
dc.date.accessioned2019-04-05T16:36:40Z
dc.date.accessioned2019-12-26T22:08:46Z
dc.date.available2019-04-05T16:36:40Z
dc.date.available2019-12-26T22:08:46Z
dc.date.issued2019-01-18
dc.identifier.urihttp://hdl.handle.net/10654/20905
dc.description.abstractLas lesiones de rodilla son frecuentes en personas de todas las edades. En todos los casos, la terapia física se prescribe para recuperar la fuerza y el rango de movimiento. Los dispositivos de asistencia robóticos están ganando la atención de la comunidad y tienen como objetivo mejorar la calidad de vida de los pacientes. En este artículo, proponemos un dispositivo de rehabilitación de rodilla de 5 barras de articulación. Estamos interesados en obtener el modelo dinámico completo del sistema de rehabilitación propuesto, con el fin de desarrollar y evaluar estrategias de control adecuadas en el trabajo futuro. Con este propósito, presentamos la formulación cinemática del dispositivo y luego, derivamos la dinámica utilizando dos enfoques, con el fin de validar el modelo; es decir, obtenemos la ecuación de movimiento utilizando el enfoque de Lagrange y un método algebraico que simplifica el modelado. Estos modelos se simulan y comparan con el comportamiento físico del sistema, mostrando la funcionalidad del sistema y la validez de los modelos cuando se realiza una rutina de rehabilitación.spa
dc.format.mimetypeapplication/pdfspa
dc.language.isospaspa
dc.language.isoengspa
dc.rightsDerechos Reservados - Universidad Militar Nueva Granada, 2019spa
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/2.5/co/spa
dc.titleModelado cinemático y dinámico de un dispositivo asistencial de 5 barras para rehabilitación de rodillaspa
dc.typeinfo:eu-repo/semantics/bachelorThesisspa
dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.subject.lembCINEMATICA DE LA MAQUINARIAspa
dc.subject.lembREHABILITACION MEDICAspa
dc.publisher.departmentFacultad de Ingenieríadspa
dc.type.localTrabajo de gradospa
dc.description.abstractenglishKnee injuries are frequent in people of all ages. In all cases, physical therapy is prescribed to recover strength, and range of motion. Robotic assistive devices are gaining the attention of the community and aim to improve the patients’ quality of life. In this paper, we propose a 5-bars-linkage knee rehabilitation device. We are interested in obtaining the complete dynamic model of the proposed rehabilitation system, in order to develop and evaluate adequate control strategies in future work. With this purpose, we present the kinematics formulation of the device and then, we derive the dynamics using two approaches, in order to validate the model; i.e. we obtain the motion equation using Lagrange approach and an algebraic method which simplifies the modeling. These models are simulated and compared with the physical behavior of the system, showing the functionality of the system and the validity of the models when performing a rehabilitation routine.eng
dc.title.translatedKinematic and dynamic modeling of a 5-bar assistive device for knee rehabilitationspa
dc.subject.keywordsRobotics assistive rehabilitation devicespa
dc.subject.keywordsKinematicsspa
dc.subject.keywordsDynamics modelingspa
dc.publisher.programIngeniería en Mecatrónicaspa
dc.creator.degreenameIngeniero en Mecatrónicaspa
dc.description.degreelevelPregradospa
dc.publisher.facultyIngeniería - Ingeniería en Mecatrónicaspa
dc.type.dcmi-type-vocabularyTextspa
dc.type.versioninfo:eu-repo/semantics/acceptedVersionspa
dc.rights.creativecommonsAtribución-NoComercial-SinDerivadasspa
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dc.subject.proposalDispositivo robótico de rehabilitación asistencialspa
dc.subject.proposalCinemáticaspa
dc.subject.proposalModelado dinámicospa
dc.publisher.grantorUniversidad Militar Nueva Granadaspa


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Derechos Reservados - Universidad Militar Nueva Granada, 2019
Except where otherwise noted, this item's license is described as Derechos Reservados - Universidad Militar Nueva Granada, 2019