1. INSTITUTO POLITECNICO NACIONALEscuela Superior de Ingeniería Mecánica y Eléctrica, Unidad Azcapotzalco DESIGN OF A MOTION ASSISTIVE ORTHOSIS Directors: Dr. Ricardo Gustavo Rodríguez Cañizo Dr. Emmanuel Alejandro Merchán Cruz Students: Bautista Arteaga Aldo Castro Lara Ignacio

2. REQUIREMENTS

3. ECONOMIC REQUIREMENTS LOW ACQUISTION COST LOW MAINTENANCE COST

4. FUNCTIONAL REQUIREMENTS Lightweight Ergonomic Comfortable Anthropometric Lownoiseemission Easytouse Lowvibrationlevel

5. FUNCTIONAL REQUIREMENTS Appropriatetemperaturelevels Reducedvolume Safe Avoid injuries from continuous use Prevent further damage by accident Safe in prolonged use and risky situations Adaptable to different use conditions

6. FUNCTIONAL REQUIREMENTS Havesufficientautonomy Adaptable a differentworkingconditions Have the necessary freedom degrees Sufficient range of knee flexion Stablewith heavy weights Appropriateresolution Compatible with other biomechanical systems Adaptable to different motion types.

7. APPEARANCE REQUIREMENTS Anthropomorphicappearance. Discreetappearance.

8. MANUFACTURABILITY AND INSTALLATION REQUIREMENTS Easy installation and removal for the patient. Easy to manufacture.

9. CONSERVATION REQUIREMENTS Lowfrequencymaintenanceand revisions

10. DESIRABLE REQUIREMENTS Lowacquisitioncost Lowmaintenancecost Prevent further damage by accident Compatible with other biomechanical systems Anthropomorphicappearance. Discreetappearance

11. DESIGN GOALS

12. DESIGN GOALS Acquisition cost under 40 000 pesos Maintenance every 4 months Equipment weight under 12 kg Adaptable to user characteristics Noise Emission under 30 db Interpres intentions of movement and have a simple user interface The frequencies generated by the system, must not come into resonance with the tissue or bone

13. DESIGN GOALS System temperature must be under 28 ° C The diameter of the limb can´t be increased in more than 15 cm Tested for periods longer than the intervals between revisions, under strict conditions of use Operate under different conditions of temperature and humidity Work at least 6 hours by continuous use Adaptable to different working conditions as variable inclinations and different soil conditions Have at least 3 freedom degrees

14. DESIGN GOALS Range of flexion of least 80 ° at the knee Support users with weights up to 120 kg Resolution of 1° Compatible with other biomechanical ankle systems The installation and removal by the patient must not take more than 10 minutes Manufacture must take 20 days or less

15. CONCEPT GENERATION

16. A)-FRAMES (A1) Rigidframe(wothoutlengthregulation.) Adjustablelengthframes .(A2)-Multipointslidingsystem (withspring).(A3)-slidingsystemwithscrewfix.(A4)-cylindersystemwithsplit ring.(A5)-slidingsystemwith slots. Dynamiclengthframes(A6)-Pneumaticpistonsystem.(A7)-Hydraulicpistonsystem.(A8)-Electric linear actuatorsystem.(A9)-Magnetorheological fluid dampersystem.

17. (B)-RESTRAINT AND ADJUSTMENT SYSTEMS (B1) Velcro tapes Adjustablestraps +(B2)-MicroLocksystem.(B3)-Bucklelocksystem.(B4)-Buckle-claspsystem.(B5)-Micrometricpressurebuckle. (B6) Rigidsystemwithhinge and lock.

18. (C)-MOVEMENT GENERATION SYSTEMS (C1) Rotativeelectric motors.(C2) Linear electric motors.(C3) Servo Rotative motors(C4) Servo linear motors(C5) Rotativehydraulic motors.(C6) Hydraulic linear actuators.

19. (D)-CONTROL SYSTEMS (D1) Microprocessors. (D2) Microcontrollers. (D3) PLC's.

20. (E) ENERGY STORAGE SYSTEMS. (E1) Lead-acidaccumulators. (E2) AlkalineBatteries. (E3) MagnesiumAlkalineBatteries. (E4) Nickel-CadmiumBatteries. (E5) Nickel-Metal HydrideBatteries. (E6) LithiumIon Batteries. (E7) LithiumPolymerBatteries. (E8) Fuel Cells (Hydrogen).

21. (F)-SENSING SYSTEMS (F1) Pressuresensors.(F2) Angular Position Sensors.(F3) InductiveSensors.(F4) Proximitysensors.(F5) Temperaturesensors.(F6) Humiditysensors.(F7) Potentiometers.(F8) Accelerometers.(F9) Encoders.(F10) Resolvers.(F11) Gyroscopes.

22. (G)-USER INTERFACE Forintroduction of commands and information.(G1)-Keyboard.(G2)-Voicerecognitionsystem.(G3)-Touchscreendisplay Forfeedbacktotheuser.(G4)-LCD(G5)-Led 's(G6)-Buzzer(G7)-Speaker forvoicemessages.

23. (H)-KNEE JOINT SYSTEMS (H1) Single axisarticulation.(H2) Dual Axis Articulation (polycentric, two rotation axes)(H3) Knee Joint with wedge and rope lock

24. CONCEPT GENERATION

25. EvaluationbyFeasibility

26. EvaluationbyAvailabilityof technology

27. Customer requirements based evaluation

28. Decision-matrixbasedevaluation