Diseño conceptual de un robot de rehabilitación de la marcha pseudoestacionario
Enviado: 20-11-2023
|Aceptado: 29-05-2024
|Publicado: 05-06-2024
Derechos de autor 2024 Jaime Ramos Rojas, Julio Salvador Lora-Millan, Juan Alejandro Castaño, Juan Carballeira, Pedro Fernández Barbosa, Susana Borromeo
Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-CompartirIgual 4.0.
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Palabras clave:
Entrenamiento de la marcha asistido por robot, exoesqueleto ambulatorio, ictus, ingeniería de la rehabilitación, lesión medular espinal, rehabilitación de la marcha, robot vestible, Aprendizaje por refuerzo
Agencias de apoyo:
Resumen:
Caminar es una tarea extraordinariamente compleja que requiere la intervención de todo el sistema nervioso, viéndose afectada por diversas patologías neurológicas. Los exoesqueletos de rehabilitación de la marcha actuales, aunque potencialmente evidencian una mejora tras la rehabilitación, aún no han mostrado su superioridad terapéutica respecto a la terapia convencional de manera concluyente. Además, los dispositivos robóticos y exoesqueletos de rehabilitación de la marcha actuales no permiten entrenar específicamente la transferencia de peso o requieren de un buen estado funcional para ser utilizados. En este artículo se presenta el modelo conceptual de un sistema robótico ambulatorio acoplado al exoesqueleto Exo-H3 para la rehabilitación de la marcha implementando estrategias de aprendizaje por refuerzo. Se espera que este sistema favorezca la plasticidad neuronal al aportar mayor libertad al usuario para explorar nuevos patrones de movimiento y aumentar su control motor voluntario y su participación activa, mientras el exoesqueleto se adapta y garantiza su equilibrio y estabilidad. Los pasos futuros contemplan el diseño y la fabricación de cada uno de los subsistemas robóticos, validando su funcionamiento individual y en conjunto, con la participación de sujetos sanos y patológicos.
Citas:
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