Abstract:
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The mobility of the lower extremities may be affected by neurological conditions such as stroke or spinal
cord injury. When, motor function, gait coordination and muscle strength are impaired. Rehabilitation
can improve the autonomy of legs movement in order to carry out everyday tasks such as walking or
stand up, also known as a Sit-To-stand. Sit-To-Stand is a task that requires considerable effort for those
who have suffered a stroke or other type of injury. To perform the Sit-To-stand movement there are
variables such as force, velocities, position angles, among others that can be modeled with the use of
robotic exoskeletons.
This project develops a Sit-To-Stand control strategy implemented in a robotic exoskeleton. This is
based on previous work on the development of control strategies for the rehabilitation of the Sit-ToStand.
Where Sit-To-Stand transition phases combined with position and admittance control strategies
are used. The objectives of this project are to find optimal values of the angles of the joints involved in
the transition of the phases and to propose an improvement in the control strategy to assist people with
lower extremities movements. |