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Descripción
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| This work presents the conceptual design, construction and testing of an upper limb rehabilitation system consisting of an exoskeleton of 6 degrees of freedom and a Human Machine Interface (HMI) to configure and control the exoskeleton. We present the study of the kinematics of the mechanical device followed by a three-dimensional modeling. Before the design of the exoskeleton was finished, we proceeded to the construction of a prototype in order to validate the model, using the Fused Filament Fabrication (FFF) technology and a three RX-64 Dynamixel motors from Robotis. Labiew® software from National Instruments was chosed to develop the HMI to communicate the exoskeleton with a computer for control the device and obtain relevant data, as the position or movement velocity. The results show the feasibility of the assistance of the robotic device in a rehabilitation processes. | |
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Internacional
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Si |
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DOI
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10.1007/978-3-319-54377-2_25 |
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Edición del Libro
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1 |
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Editorial del Libro
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Springer International Publishing |
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ISBN
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978-3-319-54377-2 |
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Serie
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Título del Libro
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Advances in Automation and Robotics Research in Latin America |
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Desde página
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297 |
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Hasta página
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308 |