Desarrollo de un prototipo automático de exoesqueleto con movimiento mecánico para la rehabilitación de la muñeca en personas adultas.

Abstract

The objective was to develop a prototype of an automatic exoskeleton with mechanical movement for adult wrist rehabilitation. For the sizing of the prototype, anthropometric measurements of adults were taken and for the design, Adams View software was used to analyze the kinematics and dynamics of each of the movements performed by the specialist in the rehabilitation of the adult wrist. Computer simulation using CAE software was used to validate the structural strength of the prototype, both statically and dynamically, evaluating the deformations, mechanical stresses and safety factors of the prototype's elements to ensure adequate functioning. The tests carried out showed that the prototype was capable of performing the required movements in a precise and safe manner, as defined in the study objectives, resulting in an acceptable error in the operation of the prototype of 1.8% in relation to the angle assigned to the angle measured from a mechanical point of view. In addition, the functioning of the prototype exoskeleton was validated on adults with a physiotherapist, performing the movements of flexion, extension, adduction, abduction, pronation and supination.