Diseño e implementación del sistema de control, instrumentación e interfaz de mando humano – máquina para un exoesqueleto de rehabilitación de mano

Abstract

This article presents the design of the control system, instrumentation and human – machine interface for a hand rehabilitation exoskeleton. The design and implementation of the mechanical part of the exoskeleton is previously built, so this proposal seeks the integrality of the project. A study of the kinematics of the exoskeleton mechanism is performed to obtain the operating ranges. Also, the kinematic study allows to determine the trajectory that the finger follows in conjunction with the mechanism in a flexion movement. In addition, the design of the instrumentation that includes position and force sensors with their respective conditioning circuits is presented. The control system is responsible for operating the electric motors that generate the movements of the mechanism and also, receives the signals from the position and force sensors. With this information, the controller establishes the motor signals that allow rehabilitation routines with the exoskeleton. The types of rehabilitation routines can be chosen through a human-machine interface that run on the computer.