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dc.contributor.authorBallén Moreno, Felipespa
dc.date.accessioned2021-02-10T02:35:22Z
dc.date.accessioned2021-10-01T15:57:10Z
dc.date.available2021-02-10T02:35:22Z
dc.date.available2021-10-01T15:57:10Z
dc.date.issued2020
dc.identifier.urihttps://catalogo.escuelaing.edu.co/cgi-bin/koha/opac-detail.pl?biblionumber=22583
dc.identifier.urihttps://repositorio.escuelaing.edu.co/handle/001/1372
dc.description.abstractOver the years, exoskeletons are included in clinical, industrial, and military applications to enhance and assist the human body. Regarding lower-limb exoskeletons in clinical applications are intended to provide aid during daily living activities. Lower-limb exoskeletons are equipped with a mechanical structure, actuators, sensors, attachments, and interfaces that interact physically with the user. These features are focused on being adequately designed for suitable human-robot interaction. However, the features' design has multiple complexities and limitations to solve and assess. On one hand, the human hip joint has intricacy behavior due to the three degrees of freedom that are not resolved by commercial exoskeletons. On the other hand, there is a lack of robotic devices’ performance indicators that properly assess the physical interfaces. In this sense, this master's thesis presents the design and modeling of a passive hip joint intended to assist the hip ab/adduction motion. Besides, it also presents a novel three-dimensional relative motion methodology to assess the human-robot interaction of the AGoRA lower-limb exoskeleton. The passive hip joint presents the design principles used to estimate the interaction torque allowing the understanding of energy provided to the user. Moreover, it also raises the three-dimensional relative motion methodology's theoretical concepts and the implementation in a pilot study. The principal outcomes are aimed to improve the AGoRA lower-limb exoskeleton's understanding of the Physical Human-Robot Interaction. On the one hand, the passive hip joint is characterized along different preloads, giving the user a maximum torque of 15.8 $Nm$ at a preload of 472.43 $N$. Likewise, the joint's stiffness provided a maximum of 4.24 $Nm/deg$. On the other hand, the proposed three-dimensional relative motion methodology demonstrated the exoskeleton's interaction among the three principal planes of motion, identifying undesirable motions in the secondary planes. The proposed joint's results revealed multiple improvements for the user's assistance. Similarly, the three-dimensional relative motion's results suggested a physical interfaces' enhancement to reduce the undesirable motions and improve AGoRA lower-limb exoskeleton's human-robot interaction and its kinematic compatibility.spa
dc.format.mimetypeapplication/pdfspa
dc.language.isoengspa
dc.publisherEscuela Colombiana de Ingeniería Julio Garavitospa
dc.rights.urihttps://creativecommons.org/licenses/by-nc/4.0/spa
dc.subjectInteracción Humano-Robotspa
dc.subjectBiomecánicaspa
dc.subjectExoesqueleto de miembro inferiorspa
dc.subjectEvaluación de rendimiento en exoesqueletosspa
dc.subjectExoesqueleto de caderaspa
dc.titleDevelopment of physical interfaces to promote kinematic compatibility for agora lower-limb Exoskeletonspa
dc.typeTrabajo de grado - Maestríaspa
dc.thesis.disciplineMagíster en Ingeniería Electrónicaspa
dc.thesis.grantorMunera, Marcela (dir)spa
dc.thesis.grantorCifuentes, Carlos A. (co-dir)spa
dc.thesis.levelMaestríaspa
dc.thesis.nameMagíster en Ingeniería Electrónicaspa
dc.type.versioninfo:eu-repo/semantics/publishedVersionspa
dc.contributor.colaboratorMinisterio de Ciencia Tecnología (MinCiencias grant 801-2017)spa
dc.rights.accessrightsinfo:eu-repo/semantics/openAccessspa
dc.type.contentTextspa
dc.type.dcmi-type-vocabularyTextspa
dc.type.driverinfo:eu-repo/semantics/masterThesisspa
dc.subject.keywordsHuman-Robot Interactionspa
dc.subject.keywordsBiomechanicsspa
dc.subject.keywordsLower-limb Exoskeletonspa
dc.subject.keywordsExoskeleton Performance Evaluationspa
dc.subject.keywordsHip Exoskeletonsspa


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