Desenvolvimento da estrutura HOPE-G: um sistema robótico para reabilitação da marcha humana

Abstract

Modern rehabilitation processes for neurological patients have been widely assisted by robotic structures, with continuous research and improvements. The use of robotic assistance in rehabilitation is a consolidated technique for upper limb training sessions. However, human gait robotic rehabilitation still needs further research and development. Based on that, this work deals with the development of a new parallel gait rehabilitation structure designed for post-stroke patients, named HOPE-G. The structure is composed of three distinct modules, and this thesis has the pilot tests of the active bodyweight support integrated with a serious game as the main objective. The test objective is to check the feasibility of the proposed design aggregated with a treadmill, focusing on the gait balance. This work also presents the mathematical model of the two mechanical modules, while building a prototype for experimental tests for one of them. The thesis begins with a background review of the state of the art of applied technologies in this area of knowledge. Next, it presents the obtained mathematical models for the mechanical modules of HOPE-G following multibody synthesis techniques and meta-heuristic optimization. After computational simulations are performed and based on the results, the prototype is built. The control of the structure is designed using PID controllers tuned with meta-heuristic optimization and associated with a suppression function to perform assist-as-needed actions. Then, the prototype is integrated with a serious game designed specifically for this application. Finally, the tests are conducted with the structure, first with a wooden anthropometric puppet, and then with healthy volunteers. The results obtained from these first pilot tests show that the mobility of the module is as expected, with recommendations s for electrical and mechanical improvements. With these improvements, the module will be submitted to clinical trials with a post-stroke research group.