Abstract

Motor rehabilitation on patients suffering physical sequelae of stroke, such as hemiplegia, is a long and expensive process. Furthermore, the accessibility and customization of robotic rehabilitation devices is a key challenge. The purpose of this work was the design and construction of a prototype of passive rehabilitation for the upper limb, intended for the functional recovery of the wrist and hand on a patient with hypotonia and hemiplegia in his left limb, to be used at home. The developed device consists of a robotic system controlled through a Raspberry pi and implementation of two electric actuators, one to mobilize the flexion and extension of the wrist and another for the opening and closing of the hand. It also used a plate transmission system to execute the movements. 3D printing technology was used to produce most of the prototype parts, which were designed by computer. In addition, an interface was created to establish communication between the user and the device and to be able to choose modalities and time of the therapy, which was visualized by a 7-inch touch screen. After construction, the device was tested to verify its operation, obtaining as a result that it fulfilled the established objectives and executed the movements correctly within the stipulated time. Future work is expected to improve the structure and expand the device's exercise modalities and including miofeedback.