Desarrollo de un prototipo de exoesqueleto robotizado para rehabilitación activa de mano con control embebido y monitoreo inalámbrico

Abstract

The present degree project, titled “Development of a Functional Prototype of a Robotic Exoglove for Active Hand Rehabilitation with Embedded Control and Wireless Monitoring,” aimed to design and implement an accessible biomedical device to assist the motor rehabilitation of the hand, combining principles of biomimetics, low-cost embedded systems, and 3D printing. The prototype design was grounded in hand physiology and in reproducing flexion–extension movements through a tendon-driven system actuated by N20 DC micromotors. Flex sensors were used for sensing, enabling real-time recording of joint angles and validation of the assisted-motion performance. The control system was implemented on an ESP32 microcontroller, which provided embedded processing capability and wireless connectivity. For the interface and monitoring layer, the Blynk platform was integrated as a mobile application for remote visualization of variables such as range of motion, flexion speed, and motor activation. This functionality allowed the data generated by the exoglove to be logged and supervised in real time, adding value by enabling personalized clinical follow-up even in rural contexts or where access to specialists is limited.