Sistema robótico do tipo exoesqueleto para reabilitação de membro superior

Abstract

Factors that cause loss of total or partial movement of upper limbs are common as neuropathies (diseases graves in the nerve), myopathies (diseases affecting the muscle), trauma and stroke. Even so, motor and functional patients return after the stroke, patients still advanced functional mobility difficulties that enable personal care and normal life. In many cases, a loss of movement can be reversed, or at least minimized, through rehabilitation exercises, but very slowly and almost always costly. The high price of assistive technology equipment from inactive communities for people with disabilities, especially in underdeveloped countries. Aiming for a superior limb rehabilitation, this paper presents a model and development of an upper limb exoskeleton prototype with two degrees of freedom, low cost, with a structure made of printer 3D. The study presents several existing models, and exhibits a mathematical model of an exoskeleton for flexion and extension movements, with simulation and subsequent prototyping.