Generation of pure trajectories for continuous movements in the rehabilitation of lower member using exoskeletons

Abstract

In this article, the analysis of pure movements of the lower limb of the human being applied to the design of exoskeletons is explained, in order to be able to obtain bases for the selection of which meet the appropriate torque requirements that can move the robot and help perform continuous trajectories. These values are based on the trajectories that are obtained by measuring the orientation of the lower limb while the patient performs pure rehabilitation movements. Having these movements fully developed, a communication can be applied by Bluetooth protocol, in such a way that signals are sent between the two parts of the exoskeleton of the lower limb to generate a successive walk clearly necessary in the rehabilitation.