Manos Robticas Protsicas

Este libro consolida el uso de tecnologías disruptivas, realizando una combinación de hardware y software bajo licencia, con el uso de tecnologías y recursos de código abierto (Open Source), para el desarrollo de manos robóticas electromiográficas. La propuesta describe un desarrollo experimental de mano robótica innovadora y sencilla a la vez, realizada mediante el diseño asistido por computadoras (CAD), utilizando microcontroladores programados bajo el entorno integrado de desarrollo de Arduino (IDE), impresión 3D y sensores electromiográficos superficiales. Se creó durante el proyecto elementos móviles y estáticos modelados por deposición fundida (FDM), generando un dispositivo asequible y accesible para personas con amputación. Este tipo de propuestas representan una esperanza para el 90% de las personas amputadas que actualmente viven sin acceso a ningún tipo de dispositivos protésicos. Este libro es una lectura esencial para aquellos que deseen contribuir en el diseño de propuestas de bajo costo y funcionales, para atender la creciente demanda de dispositivos protésicos robóticos en el mundo.

A wearable robot is a mechatronic system that is designed around the shape and function of the human body, with segments and joints corresponding to those of the person it is externally coupled with. Teleoperation and power amplification were the first applications, but after recent technological advances the range of application fields has widened. Increasing recognition from the scientific community means that this technology is now employed in telemanipulation, man-amplification, neuromotor control research and rehabilitation, and to assist with impaired human motor control. Logical in structure and original in its global orientation, this volume gives a full overview of wearable robotics, providing the reader with a complete understanding of the key applications and technologies suitable for its development. The main topics are demonstrated through two detailed case studies; one on a lower limb active orthosis for a human leg, and one on a wearable robot that suppresses upper limb tremor. These examples highlight the difficulties and potentialities in this area of technology, illustrating how design decisions should be made based on these. As well as discussing the cognitive interaction between human and robot, this comprehensive text also covers: the mechanics of the wearable robot and it’s biomechanical interaction with the user, including state-of-the-art technologies that enable sensory and motor interaction between human (biological) and wearable artificial (mechatronic) systems; the basis for bioinspiration and biomimetism, general rules for the development of biologically-inspired designs, and how these could serve recursively as biological models to explain biological systems; the study on the development of networks for wearable robotics. Wearable Robotics: Biomechatronic Exoskeletons will appeal to lecturers, senior undergraduate students, postgraduates and other researchers of medical, electrical and bio engineering who are interested in the area of assistive robotics. Active system developers in this sector of the engineering industry will also find it an informative and welcome resource.

The new technological advances opened widely the application field of robots. Robots are moving from the classical application scenario with structured industrial environments and tedious repetitive tasks to new application environments that require more interaction with the humans. It is in this context that the concept of Wearable Robots (WRs) has emerged. One of the most exciting and challenging aspects in the design of biomechatronics wearable robots is that the human takes a place in the design, this fact imposes several restrictions and requirements in the design of this sort of devices. The key distinctive aspect in wearable robots is their intrinsic dual cognitive and physical interaction with humans. The key role of a robot in a physical human–robot interaction (pHRI) is the generation of supplementary forces to empower and overcome human physical limits. The crucial role of a cognitive human–robot interaction (cHRI) is to make the human aware of the possibilities of the robot while allowing them to maintain control of the robot at all times. This book gives a general overview of the robotics exoskeletons and introduces the reader to this robotic field. Moreover, it describes the development of an upper limb exoskeleton for tremor suppression in order to illustrate the influence of a specific application in the designs decisions.

One of the major application targets of service robots is to use them as assistive devices for rehabilitation. This book introduces some latest achievements in the field of rehabilitation robotics and assistive technology for people with disabilities and aged people. The book contains results from both theoretical and experimental works and reviews on some new advanced rehabilitation devices which has been recently transferred to the industry. Significant parts of the book are devoted to the assessment of new rehabilitation technologies, the evaluation of prototype devices with end-users, the safety of rehabilitation robots, and robot-assisted neurorehabilitation. The book is a representative selection of the latest trends in rehabilitation robotics and can be used as a reference for teaching on mechatronic devices for rehabilitation.

This book contains a comprehensive overview of all current uses of robots in rehabilitation. The underlying principles in each application are provided. This is followed by a critical review of the technology available, of the utilization protocols, and of user studies, outcomes, and clinical evidence, if existing. Ethical and social implications of robot use are also discussed. The reader will have an in depth view of rehabilitation robots, from principles to practice.

This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics. Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems. Presented in two parts, the first part, Neuroscience, provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part, Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one. Human and Robot Hands provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.

Introduccion: En el mundo de la robótica se encuentran muchos trabajos en el área de las manos robóticas muchas de las cuales se encuentran fuera del alcance de la gente del común o de las pequeñas empresas debido a sus altos costos, el equipo especializado que se necesita y la falta de proveedores en el país, lo que puede llegar a limitar el desarrollo y aplicación de este tipo de tecnologías en nuestra región. El costo del robot depende de sus especificaciones, capacidad, flexibilidad y tecnología. Además de los factores complementarios como equipos periféricos, dispositivos de fijación y señalización, puesta en marcha y puesta a punto, servicio postventa, entrenamiento y mantenimiento. Usualmente una solución completa puede estar por el orden de 30.000 y 70.000 dólares, sin embargo, hay industrias que por su tamaño requieren de más recursos1. Este proyecto pretende abrir una ventana para el desarrollo de estas tecnologías en nuestra región entregando un análisis y diseño de una mano robótica que sirva como base para futuras investigaciones en este campo. En la actualidad en las diferentes universidades del eje cafetero que poseen el programa de Ingeniería de sistemas (ver tabla 1) no se encuentra ninguna que posea en su pensum la materia de Robótica, si algunas materias allegadas a este campo, pero no una que esté enfocada en ella.