Utvrđivanje ustrojstva egzo-skeletnog sustava za donje udove

master's thesis

• Title (english): Determining the structure of the exoskeletal system for the lower limbs
• Author: Maja Šimunić
• Mentor: Aleksandar Sušić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2021-12-17, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; General Mechanical Engineering (Construction)

Abstract

Tijekom posljednjih godina sučelje mozak - računalo (BCI) pojavilo se kao alternativni komunikacijski sustav između ljudskog mozga i izlaznog uređaja. BCI pruža augmentativnu komunikaciju između mozga i izlaznih uređaja, prvenstveno za subjekte koji imaju neuromotorne poremećaje ili traume živčanog sustava, posebno ozljede kralježnične moždine. Pregled identificira potencijale BCI tehnologije zasnovane na elektroencefalografiji (EEG) za kretanje i rehabilitaciju pokretljivosti. Ovim radom teži se ka unaprjeđenju ljudskog egzoskeleta za donje udove sa sučeljem mozak – računalo, konkretno, omogućiti korisniku kretanje i na otvorenom prostoru. Iz tog razloga napravljeno je konstrukcijsko poboljšanje cijele cipele egzoskeleta. Cipela sadrži sigurnosne remene, senzorski modul i gumeni potplat koji ima mogućnost izmjene, ovisno o kakvoj se podlozi radi. Preoblikovanje samog gumenog potplata čini egzoskelet stabilnijim i sigurnijim za kretanje. Senzorski modul s IMU dodatno osigurava ravnotežu korisnika. Egzoskelet za donje udove najviše se koristi u rehabilitaciji osoba s paraplegijom, a želja je postići i njihovu upotrebu u svakodnevnom životu korisnika. Unaprijeđena cipela predstavlja inovativno rješenje i treba proći testiranja kako bi se mogla koristiti u komercijalne svrhe.

Abstract (english)

In recent years, the brain - computer interface (BCI) has emerged as an alternative communication system between a human brain and an output device. BCI provides augmentative communication between the brain and output devices, primarily for subjects with neuromotor disorders or nervous system traumas, particularly spinal cord injuries. The review identifies the potentials of BCI technology based on electroencephalography (EEG) for movement and mobility rehabilitation. This work aims to improve the human lower limbs exoskeleton with a brain - computer interface, particularly to allow the user free movement outdoors. Therefore, a structural improvement of the entire exoskeleton shoe was made. The shoe contains seat belts, a sensor module and a rubber sole that can be changed, depending on the surface. Reshaping the rubber sole itself makes the exoskeleton more stable and safer to move. The sensor module with IMU additionally ensures user balance. Lower limb exoskeletons are mostly used in the rehabilitation of people with paraplegia and the aim is to achieve its daily use. The improved shoe represents an innovative solution and in order to be used for commercial purposes further testing should be done.

• Keywords: egzoskelet; sučelje mozak - računalo; elektroencefalografija; paraplegija; konstrukcijsko poboljšanje cipele
• Keywords (english): exoskeleton; brain - computer interface; electroencephalography; paraplegia; shoe design improvement
• Language: croatian
• URN:NBN: urn:nbn:hr:235:720025
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2021-12-02 10:13:05