Rediseño y validación de un encapsulado estanco para un nuevo actuador híbrido subacuático

Abstract

Injuries to the central nervous system, such as strokes, have a significant impact on people’s independence, as they cause motor disorders such as spasticity, thereby limiting and affecting the quality of life of those affected. In recent years, work has been carried out on the NOHA project, investigating a new paradigm of robotic-aquatic rehabilitation that combines traditional robotics with the benefits of hydrotherapy. In the latest tests carried out, certain issues were identified regarding the watertightness of the manufactured enclosure, which this article aims to resolve. The results of the redesign and validation of the new version is presented below, suggesting improved performance in terms of watertightness and the efficiency of the PID positional control.