Desarrollo y control de un dispositivo robótico rehabilitador de dedos
Enviado: 16-01-2025
|Aceptado: 29-06-2025
|Publicado: 10-07-2025
Derechos de autor 2025 Carolina Jiménez Martínez, Francisco José López Cortés, Alicia Casals Gelpi, Paola Andrea Niño Suarez, Oscar Fernando Avilés Sanchez, Itzel Alejandrina Aguirre Hernández
Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-CompartirIgual 4.0.
Descargas
Palabras clave:
Tecnología asistida e ingeniería de rehabilitación, mecatrónica para sistemas de movilidad, mecatrónica biomédica, control automático en sistemas biomédicos, control difuso
Agencias de apoyo:
Resumen:
Enfermedades como el reumatismo pueden limitar la movilidad de los dedos, impidiendo a las personas afectadas realizar sus actividades diarias adecuadamente y requiriendo rehabilitación motora. Este trabajo presenta un dispositivo de terapia activa para mejorar dicha movilidad mediante trayectorias personalizadas, adaptadas a la morfología y rigidez de cada dedo (excepto el pulgar). A diferencia de los exoesqueletos, que no se ajustan bien a dedos desalineados ni consideran variaciones individuales, este diseño tipo efector final sostiene únicamente la yema del dedo, permitiendo movimientos tridimensionales específicos. La variabilidad anatómica y los distintos niveles de rigidez derivados de traumatismos justifican un enfoque personalizado, en el que tanto la fuerza aplicada como la trayectoria varían según cada usuario. Un sistema de control basado en lógica difusa permite calcular el par adecuado para guiar el movimiento del dedo durante la terapia, contribuyendo a una rehabilitación más segura, eficaz y ajustada a las condiciones de cada individuo.
Citas:
Aguirre, I. Diseño de un sistema de rehabilitación para mano tipo efector final, con auto alineamiento para variaciones interfalángicas. (2020). Doctoral dissertation, Esc. Sup. Ing. Mec. Elé., Unidad Azc., Instituto Politécnico Nacional, México.
Al-Fahaam, H., Davis, S., Nefti-Mezia, S. (2018). The design and mathematical modelling of novel extensor bending pneumatic artificial muscles (EBPAMs) for soft exoskeletons. Robotics and Autonomous Systems 99, 63-74. https://doi.org/10.1016/j.robot.2017.10.010
Aubin, P.M.; Sallum, H.; Walsh, C.; Stirling, L.; Correia, A. A Pediatric Robotic Thumb Exoskeleton for At-Home Rehabilitation: The Isolated Orthosis for Thumb Actuation (IOTA). In Proceedings of the IEEE International Conference on Rehabilitation Robotics, Seattle, WA, USA, 24–26 June 2013.
Basu, A. (2020). Hands and Wrists. In: Katz, R., Basu, A. (eds) Diagnostic Radiology of the Rheumatic Diseases. Springer, Cham. https://doi.org/10.1007/978-3-030-25116-1_4
Bataller, A., Cabrera, J., Clavijo, M., Castillo, J. (2016). Evolutionary synthesis of mechanisms applied to the design of an exoskeleton for finger rehabilitation. Mechanism and Machine Theory 105, 31-43. https://doi.org/10.1016/j.mechmachtheory.2016.06.022
Bedir, O., Hocaoglu, E. (2018). A Preliminary Study: Mobile Device for Hand and Wrist Rehabilitation. Medical Technologies National Congress 1-4. https://doi.org/10.1109/TIPTEKNO.2018.8597097
Beltrán-Fernández, J.A. et al. (2020). Manufacturing of a Human’s Hand Prosthesis with Electronic Movable Phalanges Based on a CT Image: An Amputation Case. Engineering Design Applications II. Advanced Structured Materials, vol 113. Springer, Cham. https://doi.org/10.1007/978-3-030-20801-1_26
Bianchi, M., Cempini, M., Conti, R., Meli, E., Ridolfi, A., Vitiello, N., Allotta, B. (2018). Design of a Series Elastic Transmission for hand exoskeletons. Mechatronics 51, 8-18. https://doi.org/10.1016/j.mechatronics.2018.02.010
Buchholz, B., Armstrong, T. J. (1992). A kinematic model of the human hand to evaluate its prehensile capabilities. Journal of Biomechanics 25, 149-162. https://doi.org/10.1016/0021-9290(92)90272-3
Chammas, M., Chammas, PE., Boretto, J.G., Braga Silva, J., Coulet, B., Lazerges, C. (2024). Hand Rheumatoid Arthritis. In: Slullitel, P., Rossi, L., Camino-Willhuber, G. (eds) Orthopaedics and Trauma. Springer, Cham. https://doi.org/10.1007/978-3-031-30518-4_104
Ciullo, A. S., Felici, F., Catalano, M. G., Grioli, G., Ajoudani, A., Bicchi, A. (2018). Analytical and Experimental Analysis for Position Optimization of a Grasp Assistance Supernumerary Robotic Hand. IEEE Robotics and Automation Letters 3, 4305-4312. https://doi.org/10.1109/LRA.2018.2864357
Conti, R., Meli, E., Ridolfi, A. (2016). A novel kinematic architecture for portable hand exoskeletons. Mechatronics 35, 192-207. https://doi.org/10.1016/j.mechatronics.2016.03.002
DiDomenico Astin., A. (1999). Finger force capability: measurement and prediction using anthropometric and myoelectric measures. Virginia Polytechnic Institute y State University.
Haghshenas-Jaryani, M., Patterson, R., Bugnariu, N., Wijesundara, M. (2020). A pilot study on the design and validation of a hybrid exoskeleton robotic device for hand rehabilitation. Journal of Hand Therapy 33, 198-208. https://doi.org/10.1016/j.jht.2020.03.024
Iqbal, J., Khan, H., Tsagarakis, N., Caldwell, D. (2014). A novel exoskeleton robotic system for hand rehabilitation – Conceptualization to prototyping. Biocybernetics and Biomedical Engineering 34, 79-89. https://doi.org/10.1016/j.bbe.2014.01.003
Jo, I., Bae, J. (2017). Design and control of a wearable and force-controllable hand exoskeleton system. Mechatronics 41, 90-101. https://doi.org/10.1016/j.mechatronics.2016.12.001
Jo, I., Park, Y., Lee, J., Bae, J. (2019). A portable and spring-guided hand exoskeleton for exercising flexion/extension of the fingers. Mechanism and Machine Theory 135, 176-191. https://doi.org/10.1016/j.mechmachtheory.2019.02.004
Kabir Ryan, Md Haque Sunny Samiul, Uddin Ahmed Helal, Rahman Mohammad Habibur. Hand Rehabilitation Devices: A Comprehensive Systematic Review. Micromachines 13.7 (2022). https://doi.org/10.3390/mi13071033
Kawasaki, H., Ito, S., Ishigure, Y., Nishimoto, Y., Aoki, T., Mouri, T., Abe, M. (2007). Development of a Hand Motion Assist Robot for Rehabilitation Therapy by Patient Self-Motion Control. 2007 IEEE 10th International Conference on Rehabilitation Robotics, Noordwijk, Netherlands, 234-240. https://doi.org/10.1109/ICORR.2007.4428432
Kim, S., Lee, J., Bae, J. (2017). Analysis of Finger Muscular Forces using a Wearable Hand Exoskeleton System. J Bionic Eng 14, 680–69. https://doi.org/10.1016/S1672-6529(16)60434-1
Liu C., Guo K., Lu J., Yang H. (2023). A review on the application of intelligent control strategies for post-stroke hand rehabilitation machines. Advances in Mechanical Engineering 15.1, 1-20. https://doi.org/10.1177/16878132221148018
Marconi, D., Baldoni, A., McKinney, Z., Cempini, M., Crea, S., Vitiello, N. (2019). A novel hand exoskeleton with series elastic actuation for modulated torque transfer. Mechatronics 61, 69-82. https://doi.org/10.1016/j.mechatronics.2019.06.001
Mozaffari, M., Troncossi, M., Parenti, V. (2011). State-of-the-Art of Hand Exoskeleton Systems. AMS Acta 3198, 1-54.
Rahman, M. A., Al-Jumaily, A. (2012). Design and Development of a Hand Exoskeleton for Rehabilitation Following Stroke. Procedia Engineering 41, 1028-1034. https://doi.org/10.1016/j.proeng.2012.07.279
Russell, K., Shen, Q., Sodhi, R. Kinematics and Dynamics of Mechanical Systems Implementation in MATLAB and Simmechanics. Taylor y Francis, 2019.
Simpetru, R. C., Arkudas, A., Braun, D. I., Osswald, M., Souza de Oliveira, D., Eskofier, B., Kinfe, T. M., Del Vecchio, A. (2024). Learning a Hand Model From Dynamic Movements Using High-Density EMG and Convolutional Neural Networks. IEEE Transactions on Biomedical Engineering, 71(12). https://doi.org/10.1109/TBME.2024.3432800
Tang, Z., Sugano, S., Iwata, H. (2012). Mechanical design of a magnetic resonance compatible device used for finger rehabilitation and brain imaging studying. IEEE International Conference on Robotics and Biomimetics (ROBIO), Guangzhou, China, pp. 1918-1923. https://doi.org/10.1109/ROBIO.2012.6491248
Tang, Z., Sugano, S., Iwata, H. (2013). Design and evaluation of a one DOF finger rehabilitation device. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 822-827. https://doi.org/10.1109/AIM.2013.6584195
World Health Organization (WHO) and the United Nations Children’s Fund (UNICEF) (2022). Global report on assistive technology. Geneva: World Health Organization and the United Nations Children’s Fund (UNICEF), Licence: CC BY-NC-SA 3.0 IGO.
Xia, K., Chen, X., Chang, X., Liu, C., Guo, L., Xu, X., Lv, F., Wang, Y., Sun, H., Zhou, J. (2022). Hand Exoskeleton Design and Human–Machine Interaction Strategies for Rehabilitation. Bioengineering 9, 682. https://doi.org/10.3390/bioengineering9110682
Yang, J., Xie, H., Shi, J. (2016). A novel motion-coupling design for a jointless tendon-driven finger exoskeleton for rehabilitation. Mechanism and Machine Theory 99, 83-102. https://doi.org/10.1016/j.mechmachtheory.2015.12.010
Yoon, D., Choi, Y. (2017). Underactuated Finger Mechanism Using Contractible Slider-Cranks and Stackable Four-Bar Linkages. IEEE/ASME Transactions on Mechatronics 22(5). https://doi.org/10.1109/TMECH.2017.2723718
Yu, J., Luo, L., Zhu, W., Li, Y., Xie, P., Zhang, L. (2024). A Novel Low-Pressure Robotic Glove Based on CT-Optimized Finger Joint Kinematic Model for Long-Term Rehabilitation of Stroke Patients. IEEE Transactions on Neural Systems and Rehabilitation Engineering 32. https://doi.org/10.1109/TNSRE.2023.3337827
Zhang, F., Hua, L., Fu, Y., Chen, H., Wang, S. (2014). Design and development of a hand exoskeleton for rehabilitation of hand injuries. Mechanism and Machine Theory 73, 103-116. https://doi.org/10.1016/j.mechmachtheory.2013.10
