{"id":104,"date":"2017-04-28T18:50:00","date_gmt":"2017-04-28T18:50:00","guid":{"rendered":"https:\/\/blogs.etsii.urjc.es\/dseytr\/?p=104"},"modified":"2019-05-04T11:11:24","modified_gmt":"2019-05-04T11:11:24","slug":"exoesqueleto-v-05_28","status":"publish","type":"post","link":"https:\/\/blogs.etsii.urjc.es\/dseytr\/exoesqueleto-v-05_28\/","title":{"rendered":"EXOESQUELETO V 0,5"},"content":{"rendered":"
\nGrupo 22- Campus de M\u00f3stoles<\/div>\n
\n<\/div>\n
\nJose Vicente Ba\u00f1uls<\/div>\n
\nGuillermo Manuel Nogales<\/div>\n
\n<\/div>\n
\n<\/div>\n

\nEXOESQUELETO V 0,5<\/h1>\n
\nEste exoesqueleto naci\u00f3 como un intento de pr\u00f3tesis  para ayudar a las personas con movilidad reducida, actualmente se trata de un sistema de ayuda a la rehabilitaci\u00f3n, siendo capaz mediante un sistema neum\u00e1tico, usando un compresor de aire, de ayudar a la persona a estirar la pierna y mantenerla recta.<\/div>\n
\n<\/div>\n
\n\u00cdndice:<\/b><\/div>\n
\n\u00b7      
\n<\/span><\/span>Costes<\/b><\/div>\n
\n\u00b7      
\n<\/span><\/span>Estructura<\/b><\/div>\n
\n\u00b7      
\n<\/span><\/span>Sistema Neum\u00e1tico<\/b><\/div>\n
\n\u00b7      
\n<\/span><\/span>Circuito<\/b><\/div>\n
\n\u00b7      
\n<\/span><\/span>Sensor<\/b> <\/span><\/div>\n
\n<\/div>\n
\n\u00b7      
\n<\/span><\/span>Programa<\/b><\/div>\n
\n\u00b7      
\n<\/span><\/span>Mejoras<\/b><\/div>\n
\n\u00b7      
\n<\/span><\/span>Videos<\/b><\/div>\n

\nCostes<\/h2>\n
\n<\/div>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
\n
\nMateriales<\/span><\/b><\/span><\/div>\n<\/td>\n
\n
\nNumero de Unidades<\/span><\/b><\/span><\/div>\n<\/td>\n
\n
\nPrecio<\/span><\/b><\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\nArduino<\/span><\/span><\/div>\n<\/td>\n
\n
\n1<\/span><\/span><\/div>\n<\/td>\n
\n
\n–<\/span><\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\nSensor myware<\/span><\/span><\/div>\n<\/td>\n
\n
\n1<\/span><\/span><\/div>\n<\/td>\n
\n
\n39<\/span><\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\nV\u00e1lvulas solenoides<\/span><\/span><\/div>\n<\/td>\n
\n
\n2<\/span><\/span><\/div>\n<\/td>\n
\n
\n9<\/span><\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\nMalla para cables (15m)<\/span><\/span><\/div>\n<\/td>\n
\n
\n1<\/span><\/span><\/div>\n<\/td>\n
\n
\n15,2<\/span><\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\nTubo de l\u00e1tex (3m)<\/span><\/span><\/div>\n<\/td>\n
\n
\n1<\/span><\/span><\/div>\n<\/td>\n
\n
\n11<\/span><\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\nTubo Neum\u00e1tico (4m)<\/span><\/span><\/div>\n<\/td>\n
\n
\n1<\/span><\/span><\/div>\n<\/td>\n
\n
\n7,75<\/span><\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\nConectores Neum\u00e1ticos (5 piezas<\/span><\/span><\/div>\n<\/td>\n
\n
\n1<\/span><\/span><\/div>\n<\/td>\n
\n
\n2,3<\/span><\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\nRel\u00e9s<\/span><\/span><\/div>\n<\/td>\n
\n
\n3<\/span><\/span><\/div>\n<\/td>\n
\n
\n10<\/span><\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\nconector compresor<\/span><\/span><\/div>\n<\/td>\n
\n
\n1<\/span><\/span><\/div>\n<\/td>\n
\n
\n3<\/span><\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\ntubos rectangulares aluminio<\/span><\/span><\/div>\n<\/td>\n
\n
\n2<\/span><\/span><\/div>\n<\/td>\n
\n
\n5<\/span><\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\nLaminas de aluminio<\/span><\/span><\/div>\n<\/td>\n
\n
\n2<\/span><\/span><\/div>\n<\/td>\n
\n
\n8<\/span><\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\nCable de Acero<\/span><\/span><\/div>\n<\/td>\n
\n
\n1<\/span><\/span><\/div>\n<\/td>\n
\n
\n7<\/span><\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\ncinta el\u00e1stica<\/span><\/span><\/div>\n<\/td>\n
\n
\n1<\/span><\/span><\/div>\n<\/td>\n
\n
\n5<\/span><\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\nabrazaderas<\/span><\/span><\/div>\n<\/td>\n
\n
\n1<\/span><\/span><\/div>\n<\/td>\n
\n
\n4<\/span><\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\nanillos en D<\/span><\/span><\/div>\n<\/td>\n
\n
\n1<\/span><\/span><\/div>\n<\/td>\n
\n
\n1,5<\/span><\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\nVarios<\/span><\/span><\/div>\n<\/td>\n
\n
\n–<\/span><\/span><\/div>\n<\/td>\n
\n
\n5<\/span><\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\nvelcro<\/span><\/span><\/div>\n<\/td>\n
\n
\n1<\/span><\/span><\/div>\n<\/td>\n
\n
\n3<\/span><\/span><\/div>\n<\/td>\n<\/tr>\n
\n
\nTOTAL<\/span><\/b><\/span><\/div>\n<\/td>\n
<\/td>\n\n
\n135,75<\/span><\/span><\/div>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

<\/p>\n

\n Estructura<\/b><\/h3>\n
\nPara la estructura, nos hemos basado en aparatos ortop\u00e9dicos para piernas.<\/div>\n
\n<\/div>\n
\n<\/a><\/p>\n
\n<\/div>\n

<\/p>\n

\n<\/div>\n<\/div>\n
\n<\/div>\n
\n

\nSistema Neum\u00e1tico<\/h3>\n

\n<\/h2>\n
\n              <\/div>\n
\nNuestro sistema neum\u00e1tico utiliza la capacidad el\u00e1stica del
\ntubo de l\u00e1tex y la resistencia de la malla. Cuando el tubo se hincha la malla
\nque lo recubre se contrae, ejerciendo la fuerza que usamos para mantener la
\nestructura recta.<\/div>\n
\n<\/div>\n

<\/p>\n

\n<\/div>\n
\n<\/a><\/div>\n

\n
<\/b><\/h3>\n

\n
<\/b><\/h3>\n

\n
<\/b><\/h3>\n
\n<\/a><\/div>\n

\n
<\/b><\/h3>\n

\n
<\/b><\/h3>\n

\n
<\/b><\/h3>\n

\n
<\/b><\/h3>\n

\n
<\/b><\/h3>\n

\n
<\/b><\/h3>\n

\n
<\/b><\/h3>\n

\n
<\/b><\/h3>\n

\nCircuito<\/b><\/h3>\n
\n<\/a><\/div>\n
\n
<\/b><\/div>\n

\n
<\/b><\/h3>\n

\n
<\/b><\/h3>\n
\n<\/a><\/div>\n

\n
<\/b><\/h3>\n

\n
<\/b><\/h3>\n

\n
<\/b><\/h3>\n

\n
<\/b><\/h3>\n

\n
<\/b><\/h3>\n

\n
<\/b><\/h3>\n

\n
<\/b><\/h3>\n

\n
<\/b><\/h3>\n

\n
\nEl sensor, imagen arriba, se encuentra conectado
\na 5v, tierra y A0, es un sensor anal\u00f3gico, el rel\u00e9 que alimenta la v\u00e1lvula
\nsolenoide, para abrir y cerrar el circuito de aire, esta conectado al pin 6.<\/span><\/div>\n
\nCuando el arduino recibe una se\u00f1al del sensor
\nque llega o supera el umbral activa el rel\u00e9.<\/span><\/span><\/div>\n
\n
<\/b><\/div>\n
\nSensor<\/b><\/div>\n
\n
<\/b><\/div>\n
\nEn cuanto al funcionamiento del sensor, lo posicionamos en la mitad del vasto externo o lateral del cu\u00e1driceps. No elegimos otro vasto, pese a realizar la misma funci\u00f3n, dado que este es mas superficial, influye menos en la estructura y nos daba mejor se\u00f1al. El sensor nos convierte la se\u00f1al que recibe, que a final de cuentas no deja de ser un osciloscopio, a un varemo, un rango entre 0V y el voltaje al que alimentemos el sensor, en nuestro caso, 5V. Eso se traduce a una se\u00f1al anal\u00f3gica entre 0 y 1024 una vez el arduino lo recibe en el puerto A0. Con ese valor, jugamos hasta encontrar un umbral adecuado para nuestro prop\u00f3sito. En nuestro caso, dada la posici\u00f3n y el sujeto de pruebas, el umbral adecuado es de 450. una vez superado, activamos el puente del relee, lo que abre el circuito de la v\u00e1lvula solenoide, cortando la corriente y volviendo a su estado inicial, es decir, cerrada. Eso implica que el flujo de aire que escapa del sistema se ve reducido, lo que se traduce en un aumento de presi\u00f3n dentro de los m\u00fasculos neum\u00e1ticos, realizando la contracci\u00f3n.<\/span><\/div>\n
\n
<\/b><\/div>\n
\n
<\/b><\/div>\n
\nPrograma<\/b><\/div>\n<\/h3>\n
\nint value; <\/span>
\nvoid setup() {<\/span><\/div>\n

Serial.begin(9600);<\/span>
\n pinMode(7, OUTPUT);<\/span>
\n pinMode(2,INPUT);<\/span>
\n}<\/span>
\nvoid loop() {<\/span>
\n value = digitalRead(2);<\/span>
\n <\/span>
\n int sensorValue = analogRead(A0);<\/span>
\n if((sensorValue >= 450)||(value == 1)){<\/span>
\n digitalWrite(7,HIGH);<\/span>
\n }else{<\/span>
\n digitalWrite(7,LOW);<\/span>
\n }<\/span>
\n Serial.println(sensorValue);<\/span>
\n <\/span>
\n <\/span>
\n \/\/Serial.println(value);<\/span>
\n delay(20); <\/span>
\n}<\/span><\/div>\n

\n <\/span><\/div>\n

\nMejoras<\/h3>\n
\nLas mejoras que querr\u00edamos implementar son:
\n  \u2022Sistema neum\u00e1tico port\u00e1til
\n  \u2022Sistema hidr\u00e1ulico
\n  \u2022Movimiento de cadera
\n  \u2022Ayuda tanto en relajaci\u00f3n como contracci\u00f3n
\n  \u2022Forma menos aparatosa de colocaci\u00f3n
\n  \u2022Hacer un dise\u00f1o regulable<\/p>\n

\nVideos<\/h3>\n<\/div>\n
\n<\/div>\n
\n<\/div>\n","protected":false},"excerpt":{"rendered":"

Grupo 22- Campus de M\u00f3stoles Jose Vicente Ba\u00f1uls Guillermo Manuel Nogales EXOESQUELETO V 0,5 Este exoesqueleto naci\u00f3 como un intento de pr\u00f3tesis  para ayudar a las personas con movilidad reducida, actualmente se trata de...<\/p>\n","protected":false},"author":1,"featured_media":1235,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[17],"class_list":["post-104","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-proyectos","tag-seytr_gii_mostoles_2016-17"],"yoast_head":"\nEXOESQUELETO V 0,5 - Proyectos con Arduino.<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/blogs.etsii.urjc.es\/dseytr\/exoesqueleto-v-05_28\/\" \/>\n<meta property=\"og:locale\" content=\"es_ES\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"EXOESQUELETO V 0,5 - 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