Diseño de una articulación de rodilla basada en un mecanismo policéntrico de cuatro barras cruzado tipo Chebyshev

Hugo Luis Serrano; Yair Lozano; Rosalba Galván

doi:10.29057/icbi.v7iEspecial.4609

Hugo Luis Serrano Instituto Politécnico Nacional
Yair Lozano Instituto Politécnico Nacional https://orcid.org/0000-0001-8157-3510
Rosalba Galván Instituto Politécnico Nacional

DOI: https://doi.org/10.29057/icbi.v7iEspecial.4609

Keywords: Active transfemoral prosthesis, 4-Bars mechanism, Chebyshev mechanism, Geometrical synthesis, Biomedical devices

Abstract

The present work presents the results of the design of a
knee joint for prostheses, exoskeletons and bipedal robots, made
from the geometric synthesis for planar mechanisms. Taking
advantage of the anatomical advantages provided by the mechanisms
of four bars to reproduce the movement of the knee
on the sagittal axis, in the gait cycle; a configuration of crossed
bars is presented, which mimics the performance of the crossed
ligaments of the knee. According to the results obtained, it was
possible to construct a minimum prototype of an active transfemoral
prosthesis to perform the complete cycle of gait, which
is adequate to the parameters of locomotion in adults.

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Author Biographies

Hugo Luis Serrano, Instituto Politécnico Nacional

Hugo Luis Serrano received the Communications and Electronics Engineering Degree from the National Polytechnic Institute (IPN), Mexico City,Mexico, in 2010, the Master degree in Advanced Technology in 2014 at the Interdisciplinary Professional Unit on Engineering and Advanced Technologies, IPN. Currently, he is a Ph.D. student in Robotic and Mechatronic Systems at IPN. His research interests are the design and control of mechatronic systems oriented to develop medical robotic devices.

Yair Lozano, Instituto Politécnico Nacional

Yair Lozano
Hernández was born in Hidalgo, Mexico.
He obtained his bachelor’s degree in control
and automation in 2013 at the School
of Electrical and Mechanical Engineering
of the National Polytechnic Institute. His
postgraduate studies were obtained at the
Professional School of Engineering and
Advanced Technologies of the National
Polytechnic Institute of Mexico (UPIITA-IPN) in 2016. His research
interests are automatic control, design control systems for
UAV, control of nonlinear systems, and underactuated systems.

Rosalba Galván, Instituto Politécnico Nacional

Dr. Rosalba Galvan Guerra received her M.S and PhD. in Automatic Control from the Centro de Investigación y de Estudios Avanzados of the Instituto Politécnico Nacional (CINVESTAV-IPN), Mexico, in 2008 and 2011 respectively. She continued her research career as a postdoctoral fellow at the Engineering Faculty of the Universidad Nacional Autónoma de México (UNAM) during 2013-2014 and 2016 and at the Université de Techonologié de Belfort-Montbeliard France in 2015. Since August 2016 she is a full-time professor at the Instituto Politécnico Nacional in the Unidad Profesional Interdisciplinaria de Ingeniería campus Hidalgo (UPIIH-IPN). Her research interests include variable structure systems, hybrid systems, sliding modes, control and stability.

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