Diseño y construcción de un prototipo de rehabilitación para codo y muñeca

Abstract

This document presents the development of a prototype for human physical rehabilitation that allows the execution of three wrist movements and one elbow movement, meaning that it has four degrees of freedom. The prototype allows to configure parameters such as number of repetitions, angle of movement and speed, using an HMI which is presented in a touch screen connected to a Raspberry Pi 3 Model B, which is connected to a Piccolo LAUNCHXL F27028F from Texas Instruments its function is to monitor the different sensors and to control the motors that make possible the correct performance of the system. This document contains a literature review needed to understand the implemented system, technical details of the design and implementation of the prototype, a summary of the tests performed to verify that the system works properly and finally, conclusions and recommendations of the completion of this work