Mechatronic Rehabilitation System for Upper Limbs
DOI:
https://doi.org/10.20983/culcyt.2025.1.2.1Keywords:
continuous passive motion, upper limb rehabilitation machine, rehabilitation robot, rehabilitation roboticsAbstract
Currently there is great interest in the development of machines that meet the demand to rehabilitate the upper and lower extremities, due to injuries caused by strokes, traumatic incidents or accidents, neuromuscular diseases, which are increasing day by day. The objective of this work is to present the kinematic analysis of an upper limb rehabilitation machine for patients who suffered a stroke. The rehabilitation machine has 3 degrees of freedom (DOF), uses a flexible cable, and can provide shoulder movements: flexion-extension, external rotation, abduction; and elbow flexion movements, among others. The kinematic analysis of some basic movements is presented by means of vector loop analysis. In addition, the simulation results in the MSC Adams environment show that the rehabilitation machine can provide smooth passive rehabilitation movements.
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Copyright (c) 2025 Andrés Blanco Ortega, Carlos Manuel Lara Barrios, Milton Uriel Vargas Ortiz, Andrea Magadán Salazar, Manuel de Jesús Palacios Gallegos, Jonathan Villanueva Tavira
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