Sistema de automatización para el desplazamiento de una silla bipedestadora mediante control táctil en el Centro de Rehabilitación Física y Neurológica “Bendiciones” de la ciudad de Ambato

Abstract

The technological development of mobility devices has allowed people with disabilities to change their lifestyle and even not depend on medical personnel or families for the development of their activities, which is why this project focuses on improving the quality of life of a person who depends on a permanent wheelchair through an automated system for moving the standing chair at the "Blessings" Physical and Neurological Rehabilitati on Center. This project describes the design of an automation and touch control system integrated in a standing chair belonging to Niño Mateo Martínez, who has 80% physical disability due to quadriplegia. To implement this project, a vertical lifting and movement mechanism is required in the rear wheels, which adapt to the physical structure of the standing chair. The operation of the movement control and automation system of the standing chair involves the use of Bluetooth wireless technology that allows communication between the graphic interface and the electronic prototype. This system consists of two important parameters; the first focuses on vertical positioning, because thanks to the inclusion of a linear actuator it will access a vertical movement converting a standard wheelchair to a standing frame, the second focuses on displacement that, thanks to two motors, allows the low-speed mechanical movement capable of driving the rear wheels. In addition, through the use of the BTS7960 DC motor controller, closed-loop control is established, since the gains between the voltage it delivers and the output voltage to the system are regulated, that is, the controller plays an important role thanks to its amplification. that taking the control signals from the Arduino Mega regulates the PWM signal, thus controlling the displacement system. Together with a mathematical analysis that allows the modeling of a DC motor armature circuit, some equations are determined that will allow defining a first order system in order to obtain the gains based on the desired behavior of the motors. As a final element, a functional automation system will be obtained in the standing chair whose process is controlled automatically, safely respecting the needs of the specific needs of the patient.