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Asistencia robótica activa para levantarse y sentarse: evaluación experimental de trayectorias de agarre
Marko Ackermann1, Lizeth H Sloot2, Katja Mombaur3,4
1Institute for Anthropomatics and Robotics, Karlsruhe Institute of Technology (KIT), Adenauerring 12, 76131, Karlsruhe, BW, Germany. marko.ackermann@kit.edu.
Journal of neuroengineering and rehabilitation
|February 6, 2026
Resumen
Los andadores robóticos con manijas móviles reducen significativamente el esfuerzo de las piernas durante los movimientos de sentarse a levantarse, mejorando potencialmente la movilidad de las personas mayores. Las trayectorias optimizadas de las manijas disminuyen la carga en las piernas en más del 70% pero aumentan la demanda de la parte superior del cuerpo.
Área de la Ciencia:
- Biomecánica
- Robótica
- Tecnología de Asistencia
Sus antecedentes:
- Levantarse y sentarse requieren una fuerza considerable en las piernas, lo que a menudo resulta difícil para las personas mayores.
- Los andadores robóticos existentes ofrecen cierta asistencia, pero se desconocen las estrategias de movimiento óptimas.
- Existen datos limitados sobre trayectorias de asistencia eficaces para sentarse a levantarse en dispositivos robóticos.
Objetivo del estudio:
- Diseñar y evaluar trayectorias de agarre novedosas y escalables para andadores robóticos.
- Evaluar el impacto de estas trayectorias en la carga de las piernas y la percepción del usuario.
- Proporcionar una base para el desarrollo de asistencia robótica eficaz para los movimientos de sentarse a levantarse.
Principales métodos:
- Se desarrollaron cuatro trayectorias de agarre parametrizadas basadas en el movimiento del hombro sin asistencia.
- Se utilizó un simulador de asistencia robótica con agarres móviles.
- Se evaluaron los efectos sobre la carga de las piernas, las fuerzas de agarre y la asistencia percibida en 15 adultos jóvenes sanos.
Principales resultados:
- Las trayectorias propuestas redujeron los momentos máximos de extensión de cadera y rodilla en más del 70% y 50%, respectivamente.
- Las fuerzas máximas verticales de la manija aumentaron en más del 30%, alcanzando hasta el 60% del peso corporal.
- Las fuerzas horizontales máximas disminuyeron en más del 50%, y la percepción subjetiva se alineó con la reducción de la carga mecánica.
Conclusiones:
- Las trayectorias de agarre escalables se pueden implementar en dispositivos de asistencia robótica para reducir sustancialmente la carga de las piernas.
- La asistencia de agarre móvil ofrece una compensación entre la reducción de la carga de las extremidades inferiores y el aumento de la demanda de la parte superior del cuerpo.
- Los hallazgos proporcionan una base para estudios futuros con poblaciones objetivo que necesitan asistencia para sentarse a levantarse.
Palabras clave:
andador robóticotecnología de asistenciabiomecánicarobóticamovimiento de sentarse a levantarsecarga de las piernastrayectorias de agarreMás Videos Relacionados
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