Exoesqueleto robótico para la rehabilitación del miembro superior del paciente hemipléjico // Robotic exoskeleton for the rehabilitation of the upper limb in hemiplegic patients

Authors

  • Leonardo Broche-Vázquez
  • Mauricio Torres-Quezada
  • Daily Milanés-Hermosilla
  • Dainier González-Romero
  • Ruthber Rodríguez-Serrezuela
  • Roberto Sagaró-Zamora

Abstract

El objetivo de este trabajo fue aplicar una metodología que integra criterios de diseño, biomecánicos y clínicos en el desarrollo del exoesqueleto para la rehabilitación del miembro superior en pacientes hemipléjicos. Se presenta el proceso de selección de los actuadores de fuerza, mecanismos de rotación del brazo y de pronosupinación del antebrazo, así como la armadura mecánica en su totalidad. Se complementa el diseño con sencillos sistemas de control, seguridad y una interfaz para el control del exoesqueleto por parte del fisioterapeuta. El prototipo diseñado ha sido construido y validado en pruebas pilotos practicadas en el Hospital Clínico Quirúrgico de Santiago de Cuba, Cuba, en pacientes hemipléjicos aquejados del síndrome del hombro doloroso.

Palabras claves: exoesqueleto; robótica; actuadores; fisioterapia.
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Abstract

The present work applies an integrating procedure with biomechanical and clinical design criteria in the development of an exoskeleton for the rehabilitation of the upper limb in patients afflicted with hemiplegic injuries. The research work presents the process of selection of force actuators, mechanisms of arm rotation and forearm pronosupination, as well as the mechanical structure. The design is complemented by simple control and safety systems and an interface for exoskeleton control by the physiotherapist. The designed prototype has been manufactured and tested in pilot studies carried out at the Santiago de Cuba Clinical Surgical Hospital Cuba, in hemiplegic patients suffering from painful shoulder syndrome.

Key words: exoskeleton; robotic; actuators; physiotherapy;

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Published

2020-09-01

How to Cite

1.
Broche-Vázquez L, Torres-Quezada M, Milanés-Hermosilla D, González-Romero D, Rodríguez-Serrezuela R, Sagaró-Zamora R. Exoesqueleto robótico para la rehabilitación del miembro superior del paciente hemipléjico // Robotic exoskeleton for the rehabilitation of the upper limb in hemiplegic patients. Ing. Mec. [Internet]. 2020 Sep. 1 [cited 2025 Sep. 13];23(3):e608. Available from: https://ingenieriamecanica.cujae.edu.cu/index.php/revistaim/article/view/637

Issue

Vol. 23 No. 3 (2020): septiembre-diciembre

Section

Original article

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