Desarrollo de un exoesqueleto para la rehabilitación pasiva de pacientes con déficit en la actividad motora de manos

Abstract

Hand rehabilitation is a fundamental process for patients who present motor impairments as a result of musculoskeletal injuries, neurological disorders, or traumatic damage to the upper limbs. Worldwide, a significant number of individuals with physical disabilities experience functional limitations in the hand, which directly affect their autonomy, performance in daily activities, and overall quality of life. However, conventional rehabilitation therapies often require prolonged sessions under continuous clinical supervision, making it difficult to maintain treatment consistency and limiting their implementation in home-based environments. In response to this challenge, this work presents the development of a passive hand rehabilitation exoskeleton designed to assist finger flexion and extension movements in a controlled manner. The proposed device enables the execution of three programmed passive rehabilitation routines, generating repetitive movements within an angular range of 15° to 70° per phalanx, ensuring safe and progressive therapeutic motion. Additionally, the average movement speed was calibrated based on angular displacement per degree, allowing for uniformity and stability throughout the execution of each rehabilitation routine. The system integrates biomechatronic principles by combining mechanical, electronic, and control elements. It is based on an Arduino Mega board, which coordinates the actuators and executes the programmed sequences. Wireless communication is achieved through an HC-05 Bluetooth module, enabling remote control via a mobile application developed in MIT App Inventor, which facilitates the selection of therapeutic routines and parameters. The exoskeleton was designed in SolidWorks, taking into account ergonomic and anatomical adaptation criteria. The structural components were manufactured using 3D printing with PLA filament, configured with 30% infill and a hexagonal pattern. This optimized the relationship between mechanical strength and structural weight while maintaining user comfort. Therefore, the developed prototype demonstrates the feasibility of implementing controlled passive rehabilitation routines with adjustable speed, angles, and movement sequences. It constitutes an accessible technological alternative that promotes therapeutic continuity and contributes to improving the quality of life for patients with hand motor deficits.