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Diseño del modelo de un dispositivo soft-robotics para rehabilitación del movimiento de pinza trípode estático de la mano humana
dc.rights.license | Atribución-NoComercial-SinDerivadas 4.0 Internacional |
dc.contributor.advisor | Duarte Torres, Silvia Cristina |
dc.contributor.advisor | Bolívar Nieto, Edgar A |
dc.contributor.author | Patiño Gutiérrez, Shelly Nathalya |
dc.date.accessioned | 2022-09-29T17:55:25Z |
dc.date.available | 2022-09-29T17:55:25Z |
dc.date.issued | 2022-09-27 |
dc.identifier.uri | https://repositorio.unal.edu.co/handle/unal/82342 |
dc.description | fotografías a color, gráficas, ilustraciones, tablas |
dc.description.abstract | Este trabajo presenta el diseño de un dispositivo mecánico, antropomórfico y antropométrico flexible (soft-robotics) de rehabilitación del movimiento pinza trípode estático de la mano, para aquellos individuos que presentan ausencia de movilidad en los dedos, pero conservan movimiento en la muñeca. La metodología se basó en el estudio de exoesqueletos soft-robotics para rehabilitación de los movimientos de la mano, además teniendo en cuenta el estudio de la biomecánica y anatomía de la mano se tomaron muestras antropométricas a 50 personas entre 18 a 50 años de edad; de esta muestra se tomó los valores más comunes de la talla, el género y mano dominante, siendo estos la talla S del género femenino diestras. El diseño del dispositivo se realizó en AutoCAD, los componentes se imprimieron en 3D y luego se ensamblaron. Este dispositivo incorpora un mecanismo biomecánico de accionamiento por variación de longitud simulando tendones, emulando así una dinámica de tenodesis; donde el accionamiento es generado a partir de la extensión y flexión de la muñeca, permitiendo al usuario un movimiento natural de flexión y extensión de los dedos II y III; como resultado del uso del dispositivo se tiene un engrama cerebral, permitiendo al usuario la posibilidad de realizar actividades básicas con su mano tales como el agarre de un lápiz y objetos pequeños, además el diseño es ergonómico, cómodo, liviano, de fácil adaptación y limpieza, siguiendo los protocolos de sanidad requeridos para Sars-cov-2. (Texto tomado de la fuente) |
dc.description.abstract | This work presents the design of a flexible anthropomorphic and anthropometric mechanic device (soft-robotics) for rehabilitation of the static tripod movement of the hand, for those people who have no mobility in their fingers, but they still have full movement of the wrist. The methodology was based on the study of soft-robotic exoskeletons for the rehabilitation of hand’s movements; also taking into a count previous biomechanics and anatomic studies of the hand, were taking anthropometric samples of 50 people between 18 and 50 years of age; from this sample were taken the modal values for the size, the gender and hand, were chosen size S and right hand for female people. The design was done in AutoCAD, the components were 3D printed and then assembled. This mechanical device incorporates a biomechanical mechanism of actuation by variation of length simulating tendons, thus emulating a dynamic of tenodesis, where the actuation is generated from the extension and bending of the wrist, allowing the user a natural movement of flexion and extension of the fingers II and III; as a result of the use of this mechanical device generate brain engram, allowing the user the possibility to perform basic activities with their hands such as the grip of a pencil and small objects, in addition the design is ergonomic, comfortable, lightweight, easy to adapt and clean, following the required sanitation protocols for Sars-cov-2. |
dc.format.extent | xiii, 82 páginas |
dc.format.mimetype | application/pdf |
dc.language.iso | spa |
dc.publisher | Universidad Nacional de Colombia |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ |
dc.subject.ddc | 620 - Ingeniería y operaciones afines |
dc.subject.ddc | 610 - Medicina y salud |
dc.title | Diseño del modelo de un dispositivo soft-robotics para rehabilitación del movimiento de pinza trípode estático de la mano humana |
dc.type | Trabajo de grado - Maestría |
dc.type.driver | info:eu-repo/semantics/masterThesis |
dc.type.version | info:eu-repo/semantics/acceptedVersion |
dc.publisher.program | Bogotá - Ingeniería - Maestría en Ingeniería - Ingeniería Mecánica |
dc.description.degreelevel | Maestría |
dc.description.degreename | Magíster en Ingeniería - Ingeniería Mecánica |
dc.description.researcharea | Biomecánica |
dc.identifier.instname | Universidad Nacional de Colombia |
dc.identifier.reponame | Repositorio Institucional Universidad Nacional de Colombia |
dc.identifier.repourl | https://repositorio.unal.edu.co/ |
dc.publisher.department | Departamento de Ingeniería Mecánica y Mecatrónica |
dc.publisher.faculty | Facultad de Ingeniería |
dc.publisher.place | Bogotá, Colombia |
dc.publisher.branch | Universidad Nacional de Colombia - Sede Bogotá |
dc.relation.indexed | RedCol |
dc.relation.indexed | LaReferencia |
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dc.rights.accessrights | info:eu-repo/semantics/openAccess |
dc.subject.lemb | Personas con discapacidades físicas - rehabilitación |
dc.subject.lemb | Physically handicapped - rehabilitation |
dc.subject.lemb | Rehabilitación médica |
dc.subject.lemb | Medical rehabilitation |
dc.subject.proposal | Robótica blanda |
dc.subject.proposal | Férula flexible |
dc.subject.proposal | Agarre de tenodesis |
dc.subject.proposal | Rehabilitación de la mano |
dc.subject.proposal | Portable |
dc.subject.proposal | Háptica |
dc.subject.proposal | Higiénico |
dc.subject.proposal | Pinza trípode |
dc.subject.proposal | Sof-robotics |
dc.subject.proposal | Flexible splint |
dc.subject.proposal | Tenodesis grasp |
dc.subject.proposal | Soft glove, |
dc.subject.proposal | Hand rehabilitation |
dc.subject.proposal | Portable |
dc.subject.proposal | Haptics |
dc.subject.proposal | Hygienic |
dc.subject.proposal | Tripod grip |
dc.title.translated | Model design of a soft-robotics device for rehabilitating the movement of the human hand’s static tripod gripper |
dc.type.coar | http://purl.org/coar/resource_type/c_bdcc |
dc.type.coarversion | http://purl.org/coar/version/c_ab4af688f83e57aa |
dc.type.content | Text |
dc.type.redcol | http://purl.org/redcol/resource_type/TM |
oaire.accessrights | http://purl.org/coar/access_right/c_abf2 |
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