Within the last few years technical devices as exoskeletons start a very important business for rehabilitation of human locomotion. Regaining a healthy gait cycle is essential for the patient. Hence a correct implementation of the limbs’ movement is desirable. Focusing on locomotion, an exoskeleton device has to support the lower limb complex. In this thesis the design for the ankle-foot complex of this exoskeleton device is established. This requires the knowledge of movement (kinematics) and power capacity (kinetics) in healthy ankle joints. Basis for analyzing kinematics and kinetics of human ankle joints are values obtained via gait analyses by Winter (Winter, 1991) and a video gait analysis made during a locomotion seminar at Ilmenau University of Technology. Using those values in a Matlab calculation provides the main requirements on the ankle-foot part of the exoskeleton device. The elaboration of the design concept follows the VDI 2206 Design methodology for mechatronic systems. Finally, this master thesis provides the technical design for the mechanical part of the ankle-foot complex of an exoskeleton device.

Esta Tesis se realizó en el marco del contrato 203-FINCYT-IA-2013 que contó con el financiamiento del programa INNOVATE PERÚ.

Autor(es):
ZENGERLE, Laura
Institución:
Pontificia Universidad Católica del Perú - Technische Universität Ilmenau
Año: 2015
Ciudad: Lima, Perú