Contribution to the development of an experimental device based on a robotic platform for gait rehabilitation

Résumé

This thesis focuses on the development of a gait training machine based on a Cable-Driven Parallel Manipulator. Persons suffering from neurological injuries such as Spinal Cord Injury and Stroke, may lose their motor functions including the ability to walk. These injured patients can relearn walking through intense and task-oriented rehabilitation therapy, which consists in simulating the gait movement. The proposed training machine is called the Cable-Driven Leg Trainer (CDLT). It includes a Body Weight Support Device to control the position of the trunk and a Cable-Driven Leg Manipulator to drive the lower limb during the walking movement. A gait analysis is carried out using an optical motion capture system and a force platform in order to get the kinematics and the dynamics of a normal gait. Using this information, an inverse dynamic study of a treadmill walking within the CDLT is achieved. Moreover, an alogorithm of designing cable robots for a desired worksapce using interval analysis is investigated. Interval analysis is a method used to provide a reliable computing, which guarantees a singularity free workspace. Using the developed models, a design study of the CDLT is conducted. All the actuation mechanisms of the CDLT are selected. Finally, a CAD model of the gait training machine is presented.

Citer ce document

Accès au document

Ce document est hébergé sur son dépôt institutionnel d'origine.

Auteur(s)

Statistiques

Consultations : 3

Téléchargements : 0