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Mechanism design and control theory of dynamic ankle prosthesis are important research directions of active lower limb prosthesis. This paper started from the research status at home and abroad, reviewed the background, purpose and significance of dynamic ankle prosthesis, pointed out the shortcomings of passive ankle prosthesis design and kinematics, provided opinions and suggestions for the design and development of powered ankle prosthesis. According to the different driving modes, the research progress of pneumatic, hydraulic and motor driven ankle prosthesis mechanism design was systematically described, and the timeliness and energy dissipation of prosthesis under different driving modes were discussed. According to the different feedback accuracy and real-time of finite-state machine, trajectory tracking and direct volitional control, an optimization scheme was proposed to improve the function of dynamic ankle prosthesis control mode.
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Abstract: In the last years, a considerable number of patients with hand mobility problems has been reported; in most of these cases, the patients must spend time in a specialized center to carry out a therapy to rehabilitate damaged parts. This paper presents the design of an orthosis for finger rehabilitation. The novelty of this proposal is that the design is formed by rigid links and three semicircular sliders with a center of rotation coincident with the finger joints; moreover, the synthesis of these sliders is realized in a new and simple way. The mechanism is designed to be compact enough to be used by a person during a whole day; it is formed by twelve links and allows the three finger phalanxes to be flexed simultaneously. The mechanism is coupled only to the dorsal side of the hand and has no interference when grasping objects, in such a way that the orthosis presented in this paper enables the patient to perform the Activities of Daily Living. The synthesis of the mechanism presented in this paper focuses on the middle finger, nevertheless, it is possible to use the same configuration for the others fingers only by scaling.
Resumen: En los últimos años un considerable número de pacientes con problemas de movilidad en las manos ha sido reportado; en la mayoría de los casos, los pacientes deben pasar un tiempo determinado en un centro especializado para llevar a cabo una terapia para rehabilitar las partes afectadas. En este artículo se presenta el diseño de una ortesis para rehabilitación de un dedo. La novedad de esta propuesta es que el diseño está formado por eslabones rígidos y tres correderas semicirculares, cuyo centro de rotación coincide con el centro de rotación de los dedos; además, la síntesis de estas correderas se realizó de una manera sencilla y nueva. El mecanismo diseñado es suficientemente compacto para ser utilizado por una persona durante un día entero; está formado por doce eslabones y permite que las tres falanges se muevan simultáneamente. El mecanismo es acoplado al dorso de la mano para no interferir con la sujeción de objetos, y por tanto permitir el desarrollo de las actividades de la vida diaria. La síntesis del mecanismo presentada en este artículo se enfoca en el dedo medio, sin embargo es posible usar la misma configuración para los otros dedos, solo escalando el mecanismo.
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El ritmo de vida actual, tanto sociocultural como tecnológico, ha desembocado en un aumento de enfermedades y padecimientos que afectan las capacidades físico-motrices de los individuos. Esto ha originado el desarrollo de prototipos para auxiliar al paciente a recuperar la movilidad y la fortaleza de las extremidades superiores afectadas. El presente trabajo aborda el diseño de una estructura mecánica de un exoesqueleto con 4 grados de libertad para miembro superior. La cual tiene como principales atributos la capacidad de ajustarse a la antropometría del paciente mexicano (longitud del brazo, extensión del antebrazo, condiciones geométricas de la espalda y altura del paciente). Se aplicó el método BLITZ QFD para obtener el diseño conceptual óptimo y establecer adecuadamente las condiciones de carga de servicio. Por lo que, se definieron 5 casos de estudio cuasi-estáticos e implantaron condiciones para rehabilitación de los pacientes. Asimismo, mediante el Método de Elemento Finito (MEF) se analizaron los esfuerzos y deformaciones a los que la estructura está sometida durante la aplicación de los agentes externos de servicio. Los resultados presentados en éste trabajo exhiben una nueva propuesta para la rehabilitación de pacientes con problemas de movilidad en miembro superior. Donde el equipo propuesto permite la rehabilitación del miembro superior apoyado en 4 grados de libertad (tres grados de libertad en el hombro y uno en el codo), el cual es adecuado para realizar terapias activas y pasivas. Asimismo, es un dispositivo que está al alcance de un mayor porcentaje de la población por su bajo costo y fácil desarrollo en la fabricación.
The pace of modern life, both socio-cultural and technologically, has led to an increase of diseases and conditions that affect the physical-motor capabilities of persons. This increase has originated the development of prototypes to help patients to regain mobility and strength of the affected upper limb. This work, deals with the mechanical structure design of an exoskeleton with 4 degrees freedom for upper limb. Which has the capacity to adjust to the Mexican patient anthropometry (arm length, forearm extension, geometry conditions of the back and the patient's height) BLITZ QFD method was applied to establish the conceptual design and loading service conditions on the structure. So, 5 quasi-static cases of study were defined and conditions for patient rehabilitation were subjected. Also by applying the finite element method the structure was analyzed due to service loading. The results presented in this work, show a new method for patient rehabilitation with mobility deficiencies in the upper limb. The proposed new design allows the rehabilitation of the upper limb under 4 degrees of freedom (tree degrees of freedom at shoulder and one at the elbow), which is perfect to perform active and passive therapy. Additionally, it is an equipment of low cost, which can be affordable to almost all the country population.
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O trabalho busca conceber, a partir da perspectiva da ergonomia e da segurança do trabalho, a célula de trabalho do equipamento de auxílio à colheita denominado UNIMAC CANA. No posto de trabalho, o conceito mecânico proposto utiliza operadores na transferência da cana da frente de corte até o mecanismo de limpeza, buscando preservar parte da mão-de-obra utilizada na colheita manual. Baseado nos conceitos da Ergonomia de Concepção, foi realizada uma análise da atividade futura dos operadores através da construção de cenários e uma busca por situações de referência para o projeto do posto de trabalho. Princípios da Antropometria, Biomecânica e da Segurança do Trabalho foram utilizados na sua análise e dimensionamento. Os resultados obtidos demonstram a eficácia da Ergonomia de Concepção enquanto metodologia projetual, aplicada ao desenvolvimento de projetos inovadores.
This research seeks to contribute, under an ergonomic and work safety perspective, to the design of a sugar cane harvester workstation. The mechanical conception uses human operators in the transfer of sugar cane from the feed unity to the cleaner unit, trying to preserve part of the human labor traditionally used in manual harvest. Using ergonomics concepts, it was done a future activity analysis and scenery building for the design of the work stations. Anthropometric, Biomecanic and Work Safety principles were used in the analysis and design of the equipment. The results show the efficiency of conception ergonomics as a design methodological tool when applied to new mechanical concepts.
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Objective To improve the clinical application of body weight support treadmill training (BWSTT) robot and develop a practical way for promoting the rehabilitation robot, this paper proposes a design plan of lower limb robot with flexible structure, simple operation, and strong practicality in allusion to the weak clinical applicability of traditional BWSTT robot. Methods Based on methods of modular design and intensive design, the whole body of the robot was divided into several functional modules including wearable exoskeleton, weight loss training device, adaptive treadmill and suspension vest from the view of ergonomics, rehabilitation medicine, and mechanical design and so on. Meanwhile, an optimization analysis design was made for key parts of the robot through theoretical calculation and SolidWorks simulation. Results After the concrete manufacturing and clinical experiments, the feasibility and scientificity of the BWSTT robot design was validated. Conclusions This clinical application design can improve the practical application of BWSTT robot and also provide a reference for the wider use of the lower limb rehabilitation robot.
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Objective To research and develop a kind of puncture needle depth -controlled device. Methods Based on mechanical design principle, and with stainless steel and plexiglass as materials, the puncture needle depth -controlled device is composed of syringe, needle guard, pin pusher, scale gauge, depth-controlled nut, and locking screw and pedestal hood. Results The puncture needle depth-controlled device is suitable for different kinds of puncture needles and syringe needles, and has many advantages including operation labor -saving, controlling depth, diminishing contamination and infection, avoiding needle guard slippage and needle bending. The operation can be implemented in one minute. Conclusion The kind of puncture needle depth-controlled device is developed successfully and as new first-aid equipment is provided for war wounds or accidents scene rescue.