Modelagem e simulação de dispositivo manual auxiliar para mobilidade de cadeirantes com paraplegia por lesão medular
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Data
2018-02-23
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Universidade Federal de Goiás
Resumo
Extension or flexion movements of the body in a healthy individual are routine physical activity in daily
life, necessary for its autonomy and independence.Injuries to the spinal cord and brain are the main causes
of paraplegia, which makes it impossible for human locomotion with autonomy. The use of a wheelchair
will help them into your daily horizontal mobility. But the possibility of using an orthotic device to allow it
to increase the amplitude of the movements of extension or flexion will help in maintaining your bone
density, improving your blood circulation and enlargement of muscle tone, involving tension in muscles,
arteries and other tissues organic well as excessive involuntary reflex. Therefore, this study aims to present
a mathematical model to describe the trajectory of nodes corresponding to the movable joints and upper
extremity of a low cost orthosestic device, of the exoskeleton type, to be coupled in the wheelchair, using
computer simulation to determine the variation of positions and velocities of these joints associated with the
articulations of the hip and lower limbs of the paraplegic wheelchair user, when performing extension or
flexion movements of the body segments, besides the simulation of a prototype developed in CAD. As for
the main results of the research, first, there is the trajectory of the nodes with respect the mobile joints and
upper end using the representation of Denavit-Hartenberg, generated graphically by numerical and
computer simulation, in order to validate and make feasible the mechanical construction of the device.
Then, as the variation of the positions and velocities of motor gasket associated with the user’s knee joint
device, has its graphical representation plucked by multistep interactive Runge-Kuta 4th Order, using the
Lagrange equations for numerical and computational simulation of the transmission system drive, with the
application of a torque on the crank of the robotic mechanism proposed, thus confirming its usability,
reliability and security. Finally, the development of a 3D virtual prototype device CAD. Therefore, the
preparation and provision of this manual orthotic device developed to assist in the vertical mobility of the
paraplegic with spinal cord injury, will improve physical, psychological health, functional independence
and daily well-being, and helping them in their autonomy to support on the feet.
Descrição
Palavras-chave
Paraplegia, Exoesqueleto, Modelagem, Simulação, Baixo custo, Paraplegy, Exoskeleton, Modeling, Simulation, Low cost
Citação
LINO, Sémebber Silva. Modelagem e simulação de dispositivo manual auxiliar para mobilidade de cadeirantes com paraplegia por lesão medular. 2018. 128 f. Dissertação (Mestrado em Modelagem e Otimização) - Universidade Federal de Goiás, Catalão, 2018.