Desarrollo de un dispositivo biomecatrónico adaptable al miembro superior humano para potenciación de ejercicios funcionales de acondicionamiento físico

In this work, the development of a biomechatronic device adaptable to the human upper limb with dual functionality is presented, first, prevention of diseases associated with sedentary lifestyle through the enhancement of functional conditioning exercises, mainly one hundred and fifty in the first phases after an exercise. Injury. Second, rehabilitation for people with mobility difficulties in the upper limb, either due to natural or accidental causes, providing in a portable device the ability to prevent and rehabilitate in prison and / or injuries to the upper limb. In the process of the development of the device, stages of planning, generation and evaluation of concepts, detailed design, construction, tests, and adjustments were carried out, to finally arrive at the prototype that managed to satisfactorily supply the muscle building phases.En este trabajo se presenta el desarrollo de un dispositivo biomecatrónico adaptable al miembro superior humano con doble funcionalidad, la primera es la de la prevención de enfermedades asociadas al sedentarismo a través de la potenciación de ejercicios funcionales de acondicionamiento físico, enfocándose principalmente en el fortalecimiento y musculación en las primeras fases posteriores a una lesión. La segunda es la de rehabilitación para personas con dificultades de movilidad en miembro superior, bien sea por causas naturales o accidentales, brindando en un sólo dispositivo portátil la capacidad de prevenir y rehabilitar enfermedades y/o lesiones del miembro superior. En el proceso del desarrollo del dispositivo se realizaron etapas de planificación, generación y evaluación de conceptos, diseño detallado, construcción, pruebas y ajustes, para finalmente llegar al prototipo que logró suplir de manera satisfactoria las fases de musculación y rehabilitación

CMOS Hyperbolic Sine ELIN filters for low/audio frequency biomedical applications

Hyperbolic-Sine (Sinh) filters form a subclass of Externally-Linear-Internally-Non- Linear (ELIN) systems. They can handle large-signals in a low power environment under half the capacitor area required by the more popular ELIN Log-domain filters. Their inherent class-AB nature stems from the odd property of the sinh function at the heart of their companding operation. Despite this early realisation, the Sinh filtering paradigm has not attracted the interest it deserves to date probably due to its mathematical and circuit-level complexity. This Thesis presents an overview of the CMOS weak inversion Sinh filtering paradigm and explains how biomedical systems of low- to audio-frequency range could benefit from it. Its dual scope is to: consolidate the theory behind the synthesis and design of high order Sinh continuous–time filters and more importantly to confirm their micro-power consumption and 100+ dB of DR through measured results presented for the first time. Novel high order Sinh topologies are designed by means of a systematic mathematical framework introduced. They employ a recently proposed CMOS Sinh integrator comprising only p-type devices in its translinear loops. The performance of the high order topologies is evaluated both solely and in comparison with their Log domain counterparts. A 5th order Sinh Chebyshev low pass filter is compared head-to-head with a corresponding and also novel Log domain class-AB topology, confirming that Sinh filters constitute a solution of equally high DR (100+ dB) with half the capacitor area at the expense of higher complexity and power consumption. The theoretical findings are validated by means of measured results from an 8th order notch filter for 50/60Hz noise fabricated in a 0.35μm CMOS technology. Measured results confirm a DR of 102dB, a moderate SNR of ~60dB and 74μW power consumption from 2V power supply

Biomechanical Model of a Prosthetic Leg

[EN] This paper presents the biomechanical model of a prosthetic leg. In order to study the change of speed in the joint prosthesisstump upon impact of the foot with the ground is modeled as a spring-damper system, allowing demonstrate the need to build the stump-prosthesis junction impedance devices mechanical variable. This platform is also proposed with the aim of simulating virtual representations to a patient with prosthesis, as a stage prior to the actual implementation thereof.[ES] En este trabajo se presenta el modelo biomecánico de una prótesis de pierna. Con el objetivo de estudiar el cambio de velocidad en la unión prótesis-muñón al momento del impacto del pie con el suelo, está se modeló como un sistema resorte-amortiguador, per- mitiendo evidenciar la necesidad de construir la unión muñón-prótesis con dispositivos de impedancia mecánica variable. Adema's se desarrolló un simulador con el objetivo de hacer representaciones virtuales de un paciente con prótesis. Para ello se modeló al paciente como un robot b́ıpedo planar, el simulador permite estudiar el efecto de las fuerzas de impacto con el suelo de la unión prótesis-muñón como una etapa anterior a la implementación real de la misma.Los autores expresan sus mas sinceros agradecimientos a la Universidad del Cauca en Colombia por todo el apoyo académico y financiero brindado en este proyecto.Bravo M., DA.; Rengifo R., CF. (2014). Modelo Biomecánico de una Prótesis de Pierna. Revista Iberoamericana de Automática e Informática industrial. 11(4):417-425. https://doi.org/10.1016/j.riai.2014.08.003OJS417425114Anitescu, M., & Potra, F. A. (1997). Nonlinear Dynamics, 14(3), 231-247. doi:10.1023/a:1008292328909Colombo, G., Filippi, S., Rizzi, C., & Rotini, F. (2010). A new design paradigm for the development of custom-fit soft sockets for lower limb prostheses. Computers in Industry, 61(6), 513-523. doi:10.1016/j.compind.2010.03.008Dellon, B., & Matsuoka, Y. (2007). Prosthetics, exoskeletons, and rehabilitation [Grand Challenges of Robotics]. IEEE Robotics & Automation Magazine, 14(1), 30-34. doi:10.1109/mra.2007.339622Ferris, A. E., Aldridge, J. M., Rábago, C. A., & Wilken, J. M. (2012). Evaluation of a Powered Ankle-Foot Prosthetic System During Walking. Archives of Physical Medicine and Rehabilitation, 93(11), 1911-1918. doi:10.1016/j.apmr.2012.06.009Hobara, H., Baum, B. S., Kwon, H.-J., Miller, R. H., Ogata, T., Kim, Y. H., & Shim, J. K. (2013). Amputee locomotion: Spring-like leg behavior and stiffness regulation using running-specific prostheses. Journal of Biomechanics, 46(14), 2483-2489. doi:10.1016/j.jbiomech.2013.07.009Jiménez-Fabián, R., & Verlinden, O. (2012). Review of control algorithms for robotic ankle systems in lower-limb orthoses, prostheses, and exoskeletons. Medical Engineering & Physics, 34(4), 397-408. doi:10.1016/j.medengphy.2011.11.018Lee, J. H., Yi, B.-J., & Lee, J. Y. (2012). Adjustable spring mechanisms inspired by human musculoskeletal structure. Mechanism and Machine Theory, 54, 76-98. doi:10.1016/j.mechmachtheory.2012.03.012Martins, M. M., Santos, C. P., Frizera-Neto, A., & Ceres, R. (2012). Assistive mobility devices focusing on Smart Walkers: Classification and review. Robotics and Autonomous Systems, 60(4), 548-562. doi:10.1016/j.robot.2011.11.015Nandi, G. C., Ijspeert, A. J., Chakraborty, P., & Nandi, A. (2009). Development of Adaptive Modular Active Leg (AMAL) using bipedal robotics technology. Robotics and Autonomous Systems, 57(6-7), 603-616. doi:10.1016/j.robot.2009.02.002Wentink, E. C., Koopman, H. F. J. M., Stramigioli, S., Rietman, J. S., & Veltink, P. H. (2013). Variable stiffness actuated prosthetic knee to restore knee buckling during stance: A modeling study. Medical Engineering & Physics, 35(6), 838-845. doi:10.1016/j.medengphy.2012.08.016Whittlesey, S. N., van Emmerik, R. E. A., & Hamill, J. (2000). The Swing Phase of Human Walking Is Not a Passive Movement. Motor Control, 4(3), 273-292. doi:10.1123/mcj.4.3.273Xie, H.-L., Liang, Z.-Z., Li, F., & Guo, L.-X. (2010). The knee joint design and control of above-knee intelligent bionic leg based on magneto-rheological damper. International Journal of Automation and Computing, 7(3), 277-282. doi:10.1007/s11633-010-0503-