Desenvolvimento de dispositivos não motorizados para reabilitação do membro inferior humano

Abstract

The objective of this work is to present the development of three non-motorized mechanisms for rehabilitation of each joint of the human lower limb. This type of system already exists but it is motorized and automatic. The structures here are mechanical devices, in order to obtain the system proposed whose operation is simpler for both patients and health professionals. The mathematical modeling of the mechanisms is based on the four-bar linkages and the static equilibrium of the system. The mechanism transmits angular movement generated by the patient’s arm to an oscillatory movement on the respective joint to be moved. For designing each bar of the mechanisms, it is used a genetic algorithm called differential evolution and singularity analysis based on the geometrical matrix of the systems. To validate the system, a prototype for the knee was constructed to verify the angular outputs, check the existence of singularities, and to execute exercises with a wooden test dummy. This prototype was also used for the development and implementing a game, controlled by the patient, helping its motivation exercises.