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MECANISMOS DE TRANSMISIÓN Y
ACTUADORES UTILIZADOS EN
PRÓTESIS DE MANO
Jesus Manuel Dorador-Gonzalez

somim.org.mx

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EL FUT URO EN LAS PRÓT ESIS DE MANO

Jesus Manuel Dorador-Gonzalez

Art 01 enero
ALEXANDER DAVID T IPÁN SÁNCHEZ

ROBÓT ICA Y PRÓT ESIS INT ELIGENT ES

Jesus Manuel Dorador-Gonzalez
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& ' * *=*(8./ /.( ,.=9(=*(8* = 1./ ,84 1.+*/
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= (*I.

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8 *B','*(,' &+ ( 1'/A.('F' '1 1 D ./ 8 = :./ <'&4+ &4( / A+;8*/'/ C4* 48' '7 ( =.8.+*/
,.=A ,8./ * 1',* C4* /.( * 5,8+',./ A.+C4*
8+ (/B.+= ( *(*+&6 A+.0*('*(8* 1* 4( B4*(8*
* 5,8+', 1'+*,8 =*(8* *( *(*+&6 =*,%(', ./ /*+0.=.8.+*/ /.( .8+. 8'A. =4D ,.=9( 1*
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,.(/8'84'1. A.+ 4( */8 8.+ D 4( +.8.+ * */8 8.+
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,.(8'*(* 4(. . =%/ 1*0 ( 1./ A.+ , 1 A. . ./
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4( ,.(=48 1.+ ,.(*,8 1. 1*0 ( 1. 1*
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B+ ,,';( 1* 04* 8 D 4*&. /* 1*8*(1+6 1* ,.(8+. + A4*1* /*+ ,.(*,8 1. 1'+*,8 =*(8*
=',+.,.(8+. 1.+*/ /4 *I* A4*1* /*+ *0 1. 4(
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* *,8+.1. D = 8*+' A'*7.* 5,8+',.H * *=*(8.
FH 8 - += J"K ,H M (1 J K
*(, +& 1. *( &*(*+ + / =',+.1*B.+= ,'.(*/
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* *,8+.'= (*/ (. /* =4*0*( *( 4& + 1* */. ./
B+',,';( +.8.+ A+'(,'A'. 1* B4(,'.( ='*(8.
= &(*8./ A*+= (*(8*/ +.8 ( D += 14+
1* ./ =.8.+*/ 4 8+ /;(',./ 1* .(1 0' I*+ */ *
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,.(8 ,8. *(8+* * +.8.+ D * */8 8.+ C4* 1 4& +
D += 14+ &*(*+ ( =*(./ , .+ D A.+ . 8 (8.
=.0'='*(8. 1* =.8.+ 4/ 0*(8 I / /.(L * *0 1.
- D =*(.+ A*+1'1 A.+ B+',,';( = D.+ 0'1 98'
A + F I / 0* .,'1 1*/ +%A'1 +*/A4*/8 D F4*(
= D.+ *B','*(,' =*(.+ A*/. D (. A+.14,*
A + 1 ,.( . C4* /* .&+ 4( F4*(
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=.8.+*/ ,.(0*(,'.( */ +*C4'*+*( 1* ,.(8+.
*/8+4,84+ /'=A * (. * B*,8 ( , =A./
=%/ ,.=A *I. D (. &'+ ( +*05/ , =F' +
= &(58',./ *>8*+(./ (' ./ &*(*+ *B','*(,'
A. +'1 1 ./ A+.D*,8./ =%/ /.F+*/ '*(8*/ C4*
'(/*(/'F * ='(' 84+'7 ,';( '( *=F +&. /4/
- ,*( 4/. 1* */8* 8'A. 1* =.8.+*/ /.( N M (1
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/*&4(1 B4* 1*/ ++. 1 ,.=. = (. +.F;8',
/ * ,'.(*/ ,.( =*=.+' 1* B.+= G H C4*
(8+.A.=;+B', 4/. 1* =.8.+*/ 4 8+ /;(',./ *(
/* A4*1*( ,.(/'1*+ + ,.=. ,84 1.+*/ * 5,8+',./
A+;8*/'/ 1* = (. - 8*('1. A., ,*A8 ,';( *(8+*
1*F'1. C4* 48' '7 ( 1* */8* 8'A. 1* *(*+&6 A +
./ 1'/*: 1.+*/ 1*F'1. A+'(,'A =*(8* C4*
/4 B4(,'.( ='*(8. .( * ,'.(*/ =*8% ', / /
8'*(*( C4* /* '=*(8 1./ A.+ 4( B4*(8* 1*
,4 */ */8 (1. 8*=A*+ 84+ +* 8'0 =*(8* B+6 /*
A.8*(,' 1* 8 B+*,4*(,' D &. C4* - /8
1*B.+= ( =*1' (8* ,,';( 1* 4( , +&
B*,- */ '='8 1. */ , (8'1 1 1* *(*+&6 C4*
*>8*+( 4( 0*7 +*8'+ 1 , +& A4*1* +*&+*/ +
A4*1* /*+ = ,*( 1 *( / F 8*+6 / C4* *0 (
B.+= C4* 8*(6 ( .+'&'( =*(8* =*1' (8* 4(
/ A+;8*/'/
/'=A * , *(8 ='*(8. G&*(*+ =*(8* /* - ,* A / +
4( ,.++'*(8* * 5,8+', H / 0*(8 I / =%/
/'&('B', 8'0 / C4* A+*/*(8 ( ,4 (1. /.( 48' '7 1 /
*( A+;8*/'/ /.(L &*(*+ ,';( 1* =.0'='*(8./

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= (4B ,84+ 1 / *( , /' ,4 C4'*+ B.+= D 8 = :. B.+= 1* 8'I*+ G8+*(7 1 H ,4 (1. */ '(B 1. ,.(
8'*(*( 4( 8. ('0* 1* +*,4A*+ ,';( A %/8', '+* ,.=A+'='1. F I A+*/';( ,.+8 /4 .(&'841
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*(B+' 1. D /4 *B','*(,' *(*+&58', */ F I /8* *=A * ( *( A+;8*/'/ /.( 4( 1'B6,' ,.(8+.
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1* ,84 1.+ /* A+.(./8', 1'B6,' /4 4/. A.+ . A+.D*,8./ ,.=. N ,QB'(&*+/OJ# K 1*/ ++. 1.
=*(./ *( &4(./ :./ *( A+;8*/'/ 1* = (. D *( * . '85,(',. 1* ' (.E D N - 1.U
C4* * 4=*(8. 1* 8*=A*+ 84+ */ 4( B ,8.+ M (1OJ# K 1* - 1.U .F.8 .=A (D =F./
'(1*/* F * 1*=%/ A + .&+ + /4B','*(8* 1*/ ++. 1./ ,.=. = (./ +.F;8', / .( */8*
1*B.+= ,';( ,.=. A + .&+ + 4( =.0'='*(8. 8'A. 1* ,84 1.+*/ /* A4*1*( .&+ + =.0'='*(8./
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'(0*/8'& ,';( /.F+* 1'/*:. 1* A+;8*/'/ '(8* '&*(8*/ 1* /'/8*= 1* ,.=A+*/';( 1* '+* D C4* 4( 1*
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('8'(. D /* *(,.(8+; C4* A + =.0*+ , 1 A ,'*(8* 8'*(* C4* , +& + = D.+ A +8* 1* 16
+8',4 ,';( /* ,.(/4=* 4( =A*+ A.+ . ,4 (.
8+. A+.D*,8. C4* - ,* 4/. 1* *(*+&6 (*4=%8',
+*/4 8 ( 0' F */ A + = (./ A+.85/', / A*+.
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+*A+*/*(8 ( 4( /. 4,';( '(8*+*/ (8* A + = (./
+Q/.( D 1* (1*+F' 8J#$K C46 /* *=A * 4(
+.F;8', /
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<'( =*(8* *(,.(8+ =./ ./ ,84 1.+*/
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1* = (. /.( */, / =*(8* 48' '7 1./ 9(',.
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(*4=%8',./ ./ -'1+%4 ',./ 8'*(*( =*I.+ B484+.
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(*4=%8',./ C4* A.+ /4/ , + ,8*+6/8', / (. /.( 8 (
4/ 1./ A + &*(*+ ,';( 1* A.8*(,' *( A+;8*/'/
D C4* A+*/*(8 ( 4( /*+'* 1* 1*/0*(8 I / (. 1*
*/8./ ,84 1.+*/ */ * = 1. N=9/,4 .
(*4=%8',.O C4* ,.(/'/8* *( 4( 84F. 1* &.=

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,84 1.+*/ 1* 1'0*+/ / = +, / ,.=*+,' */ ( / */8* 8+ F I.
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A+.A.(*( 4( , 'B', ,';( 1* # # *( 1.(1* *
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1* = (. ( F 1* A5(1',* /* =4*/8+ 0* .,'1 1 1* / '1 D 4=*(8. 1* A.8*(,' A.+
='/= '(B.+= ,';( A*+. A + ,84 1.+*/ ,.( . C4* /* 48' '7 4( 8+*( 1* *(&+ (*/
=.0'='*(8. '(*
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&+ ( 0 +'*1 1 1* 8 = :./ *(.+=* 1'/A.('F' '1 1
/* A4*1*( B F+', + 1* 4( &+ ( 0 +'*1 1 1*
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