Framework for virtual reproduction and control of active joints in robotic lower limbs.

• Grant number: 23/05065-5
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: June 01, 2023
• End date: May 31, 2024
• Field of knowledge: Engineering - Biomedical Engineering - Bioengineering
• Principal Investigator: Rafael Traldi Moura
• Grantee: Matheus Latorre Cavini
• Host Institution: Escola Politécnica (EP). Universidade de São Paulo (USP). São Paulo , SP, Brazil

Abstract

The 2019 National Health Survey shows that lower limb deficiencies are the ones that affect the Brazilian population the most. The dissemination of assistive technologies is extremely necessary to reduce the impact on the carriers. Among them, exoskeletons and lower robotic limbs are among those that provide the carrier with the possibility of recovering the natural walking movement. However, due to the high cost and the difficulties faced in their development, they are inaccessible to a large part of the carriers. A fundamental part of the development cycle of these technologies is gait control, which uses active joint control at its lowest level, together with its sensing. These are responsible for the proper positioning of each individual joint in order to generate the correct trajectory for the limb. In addition, performance tests and data acquisition are part of the process. This project aims to develop a framework for virtual reproduction and control of active joints of lower robotic limbs, actuated by DC motors and sensed by rotary potentiometers. The goal is to standardize this level of control, as well as to enable testing and data acquisition at an early stage through virtual reproduction, elements that facilitate and accelerate the development cycle of technologies. Finally, it is expected to integrate the created framework into the development of the Anthropomorphic Lower Limb at the Biomechatronics Laboratory of USP, contributing to its development.