Está en la página 1de 18

2

DISEÑO DE UN DISPOSITIVO PARA AUTOREHABILITACIÓN


PASIVA DE RODILLA NO SUPERVISADA
Mary J. Vergara4, José M. Segnini5, Sebastián Provenzano6 ,
Anderson P. Chagna7, Jesús E. Diez y Riega8

/DVURGLOODVVRQXQDVDUWLFXODFLRQHVLPSRUWDQWHVGHOFXHUSRKXPDQR
ODVFXDOHVVRSRUWDQPiVGHOGHOSHVRGHOFXHUSRGLVWULEXLGRHQWUH
DPEDV\SRUVXVIXQFLRQHVSHUPLWHQHMHFXWDUPRYLPLHQWRVGHÀH[LyQ
\ H[WHQVLyQ$Vt OD PD\RUtD GH ODV DFWLYLGDGHV GH OD YLGD FRWLGLDQD
TXHLPSOLFDQGHVSOD]DPLHQWRXWLOL]DQGLFKDVDUWLFXODFLRQHV&XDQGROD
DUWLFXODFLyQGHODURGLOODVXIUHGDxRVHVRLPSOLFDXQGHFUHPHQWRGHOD
FDOLGDGGHYLGD\SDUDVXUHKDELOLWDFLyQVHUHTXLHUHGHXQWHUDSHXWDR
GLVSRVLWLYRTXHODPRYLOLFHVLQQLQJ~QHVIXHU]RSRUSDUWHGHOSDFLHQWH
\VHJ~QXQWUDWDPLHQWRHVSHFt¿FRGHUHFXSHUDFLyQ(QHVWHFDStWXORVH
SUHVHQWD HO GLVHxR GH XQ GLVSRVLWLYR GH PRYLPLHQWR SDVLYR FRQWLQXR
SDUD OD DXWRUUHKDELOLWDFLyQ GH OD URGLOOD (O PRYLPLHQWR HV DFWXDGR
PDQXDOPHQWH SRU HO SDFLHQWH GH WDO PDQHUD TXH OD OLPLWDQWH GH GRORU
SXHGDVHUFRQWURODGDGLUHFWDPHQWHSRUpOKDFLHQGRXQPRYLPLHQWRGH
H[WHQVLyQ \ ÀH[LyQ GH URGLOOD YROXQWDULR (O GLVSRVLWLYR FRQWLHQH XQ

*UXSRGH'LVHxR6XVWHQWDEOH',*,686(VFXHODGH'LVHxRGH3URGXFWRV\&RQWUROGH3URFHVRV3RQWL¿FLD
4

Universidad Católica de Ecuador, Ibarra, Ecuador. {mjvergarara@pucesi.edu.ec; jmsegnini@pucesi.edu.ec}


Grupo de Diseño y Modelado de Máquinas DIMMA, Escuela de Ingeniería Mecánica Universidad de Los Andes,
Mérida, Venezuela. {prse@ula.ve}
*UXSR GH 'LVHxR 6XVWHQWDEOH ',*,686 (VFXHOD GH 'LVHxR GH 3URGXFWRV \ &RQWURO GH 3URFHVRV 3RQWL¿FLD
5

Universidad Católica de Ecuador, Ibarra, Ecuador. {mjvergarara@pucesi.edu.ec; jmsegnini@pucesi.edu.ec}


6
Grupo de Diseño y Modelado de Máquinas DIMMA, Escuela de Ingeniería Mecánica Universidad de Los
Andes, Mérida, Venezuela.
*UXSRGH'LVHxR6XVWHQWDEOH',*,686(VFXHODGH'LVHxRGH3URGXFWRV\&RQWUROGH3URFHVRV3RQWL¿FLD8QLYHUVLGDG
7

Católica de Ecuador, Ibarra, Ecuador. {mjvergarara@pucesi.edu.ec; jmsegnini@pucesi.edu.ec}


8
Escuela de Medicina. Facultad de Medicina Universidad de Los Andes, Mérida, Venezuela

43
MARY J. VERGARA, JOSÉ M. SEGNINI, SEBASTIÁN PROVENZANO
44 ANDERSON P. CHAGNA, JESÚS E. DIEZ Y RIEGA

PHFDQLVPR GH PDQLYHOD ELHOD FRUUHGHUD TXH WUDQVIRUPD OD HQWUDGD


PRWUL]GHGHVSOD]DPLHQWRDQJXODUHQOLQHDOTXHVHDMXVWDDGLIHUHQWHV
HWDSDV GH UHKDELOLWDFLyQ HVSHFL¿FDGDV GH DFXHUGR FRQ ¿VLRWHUDSHXWDV
FRQVXOWDGRV\TXHYDUtDGHVGHƒKDVWDƒPHGLGRVHQWUHHOPXVOR
\ODSLHUQD/RVPRYLPLHQWRVLQWURGXFLGRVDOUHKDELOLWDGRUWLHQHQXQD
UHODFLyQDQJXODUGHWDOPDQHUDTXHHQODIDVHLQLFLDOSRUFDGDJUDGRTXH
LQWURGX]FDHOXVXDULRODURGLOODÀH[LRQDXQJUDGRPLHQWUDVTXHHQOD
~OWLPDIDVHGHUHFXSHUDFLyQSRUFDGDJUDGRLQWURGXFLGRSRUHOXVXDULR
ODURGLOODÀH[LRQDGRVJUDGRV(OPHFDQLVPRDGHPiVSRVHHXQVLVWHPD
GHEORTXHRTXHVLUYHGHLQGLFDGRUSDUDYHUL¿FDUFDGDXQDGHODVIDVHV
GHDYDQFHHQORVPRYLPLHQWRVHMHFXWDGRVSDUDODUHKDELOLWDFLyQ\SRUVX
VLPHWUtDSXHGHVHUXWLOL]DGRHQDPEDVURGLOODVLQFOXVRHQFDVRVHQORV
TXHH[LVWHLQPRYLOL]DFLyQSHUPDQHQWHGHORVPLHPEURVLQIHULRUHV/RV
UHVXOWDGRVREWHQLGRVXWLOL]DQGRSURJUDPDV&$'&$(PXHVWUDQTXHOD
DEVRUFLyQGHFDUJDVREUHODSRVLFLyQFUtWLFDGHOPHFDQLVPRHVWXGLDGR
SUHVHQWDXQDGHIRUPDFLyQPi[LPDPHQRUDXQHVIXHU]RPi[LPR
GH03DFRQGHVSOD]DPLHQWRVPHQRUHVDPP\SRUWDQWRQR
H[LVWH SHOLJUR GH IDOOR$Vt VH SXHGH PDWHULDOL]DU HO GLVHxR SURSXHVWR
FRQ XQ PHFDQLVPR FX\DV EDUUDV HQ WXER GH DOXPLQLR FRQ XQLRQHV \
DUWLFXODFLRQHVGHOPLVPRPDWHULDO\FRQXQSHVRPi[LPRGH.J

Palabras clave: dispositivo, autorehabilitación, rodilla, movimiento


pasivo.

INTRODUCCIÓN

/D SpUGLGD GH OD DPSOLWXG GH PRYLPLHQWR GH OD URGLOOD VH WUDWD
FRP~QPHQWHFRQPRYLPLHQWRVGHH[WHQVLyQ\ÀH[LyQ/DVYDULDEOHVTXH
FRQWULEX\HQ D OD SpUGLGD GH HVWRV PRYLPLHQWRV LQFOX\HQ WUDXPDVHQ OD
DUWLFXODFLyQGHODURGLOODWHMLGREODQGRFLUFXQGDQWHRFLUXJtD8QDYH]
GHWHFWDGD OD DQRPDOtD VH IRUPXODQ WUDWDPLHQWRV SDUD UHFXSHUDU GLFKRV
PRYLPLHQWRVPHGLDQWHUHKDELOLWDFLRQHVODVFXDOHVGHEHQVHUHIHFWXDGDVGH
PDQHUDFRUUHFWD\DTXHORVSURFHGLPLHQWRVGHUHFXSHUDFLyQSXHGHQYHUVH
VRFDYDGRVSRUXQDPDODDSOLFDFLyQGHODUHKDELOLWDFLyQ8QDSURSXHVWD
GHLQWHUpVSDUDHVWDUHFXSHUDFLyQDSXQWDDXQDUHKDELOLWDFLyQGRPLFLOLDULD
DISEÑO DE UN DISPOSITIVO PARA AUTOREHABILITACIÓN
PASIVA DE RODILLA NO SUPERVISADA 45

SUHVFULWDVLQVXSHUYLVLyQ6LQHPEDUJRQRH[LVWHXQDYDOLGDFLyQUREXVWDGH
ODH¿FDFLDGHGLFKRSURFHVR$VtSRUHMHPSORXQHVWXGLRSLORWRSUHVHQWDGR
HQ6LQGKX\FRO  PXHVWUDTXHODUHKDELOLWDFLyQVXSHUYLVDGDGHVSXpV
GHODDUWURSODVWLDWRWDOGHURGLOODWLHQHPHMRUSURQyVWLFRTXHHOSURJUDPDGH
UHKDELOLWDFLyQVLQVXSHUYLVLyQGRPLFLOLDULDVREUHODDPSOLWXGGHPRYLPLHQWR
ODFDSDFLGDGIXQFLRQDO\HOGRORUPLHQWUDVTXH%ROOHQ\FRO  KDFHQ
XQD UHYLVLyQ VLVWHPiWLFD GHO WHPD \ FRQFOX\HQ TXH OD PHMRU HVWUDWHJLD
SDUDLPSOHPHQWDUODDXWRUUHKDELOLWDFLyQQRVXSHUYLVDGDHVOOHYDUDHIHFWR
XQDFRPELQDFLyQGHPHGLGDVGHFRQWUROTXHLQFOX\DQXQDXWRUUHSRUWHGHO
SDFLHQWH(QHVWDPLVPDGLUHFFLyQXQHVWXGLRGHUHKDELOLWDFLyQSUHVHQWDGR
SRU(QJOLVK  H[SUHVDTXHFXDQGRORVHVSHFLDOLVWDVWUDEDMDQHQHTXLSR
HOUHVXOWDGR¿QDOHVPiVH[LWRVRFRQVLGHUDQGRDGHPiVTXHODUHKDELOLWDFLyQ
HVXQSURFHVRTXHGHEHVHUDJUDGDEOHSRVLEOH\DFFHVLEOHSDUDHOSDFLHQWH
HLPSOLFDODFUHDWLYLGDGPHGLDQWHODFLHQFLD\HODUWHFX\RUHVXOWDGR¿QDO
HV HO UHWRUQR GHO SDFLHQWH D XQD YLGD QRUPDO  'H OR DQWHULRU VH SXHGH
GHVSUHQGHUTXHHVSRVLEOHREWHQHUH[FHOHQWHVUHVXOWDGRVVLVHFRPELQDOD
DXWRUUHKDELOLWDFLyQSRUSDUWHGHOSDFLHQWHFRQHYLGHQFLDVGHSURJUHVRGDGDV
DOHVSHFLDOLVWD(VWRVDFWRUHVVRQFRQVLGHUDGRVSDUDHOGLVHxRGHPXFKRV
GLVSRVLWLYRVDVtSDUDXQUHKDELOLWDGRUGHURGLOODSUHVHQWDGRSRU/XQD\
FRO  VHXWLOL]DXQPpWRGRGHJHVWLyQGHFDOLGDG Quality Function
Deployment TXHFRQVLGHUDODVGHPDQGDVGHOXVXDULR\GHOHVSHFLDOLVWDHQ
ODFDOLGDGGHOGLVHxRSDUDSURSRQHUXQHTXLSRTXHLQWHUSUHWHDGHFXDGDPHQWH
ORVSDUiPHWURVFXDOLWDWLYRV\ORVWUDGX]FDHQFXDQWLWDWLYRV
3DUDFXEULUODGHPDQGDGHHVWRVGLVSRVLWLYRVHQHOPHUFDGRKD\XQD
FDQWLGDGLPSRUWDQWHGHHOORV\ORVPiVSRSXODUHVVHXWLOL]DQSDUDKDFHU
UHKDELOLWDFLyQDVLVWLGD/DPD\RUtDGHHOORVVHDJUXSDHQGLVSRVLWLYRVFRQ
FRQWUROGHSRVLFLyQ\GLQiPLFRVTXHSXHGHQXWLOL]DUQHXPiWLFDUHVRUWHV
OLQHDOHVKLGUiXOLFD\EDUUDVWRUVLRQDOHVSDUDFRQWURODUODDUWLFXODFLyQGH
ODURGLOODFRPRVHPXHVWUDHQ:LONHQLQJ\FRO  7LDQ  \
8PFKLG\7DUDSKRQJSKDQ  HQGRQGHVHHVSHFL¿FDDGHPiVTXHKD\
QHFHVLGDGGHKDFHULQYHVWLJDFLRQHVHQODVTXHORVGLVSRVLWLYRVGLVHxDGRV
SHUPLWDQOOHYDUDFDERODIXQFLyQQRUPDOGHODURGLOODGXUDQWHWRGRHOFLFOR
GHFDPLQDU(QHVWDPLVPDGLUHFFLyQ0RWLRQ0DNHUŒSUHVHQWDXQVLVWHPD
GHHQWUHQDPLHQWRSURJUDPDEOHSDUDORVPLHPEURVLQIHULRUHVGHVDUUROODGR
SRU6FKPLWW\FRO  TXHWLHQHWUHVJUDGRVGHOLEHUWDG YHUWDPELpQ
MARY J. VERGARA, JOSÉ M. SEGNINI, SEBASTIÁN PROVENZANO
46 ANDERSON P. CHAGNA, JESÚS E. DIEZ Y RIEGA

*X]PiQ\FRO \HVWiFRPSXHVWRSRUGRVyUWHVLVDGHPiVGHPRWRUHV
VHQVRUHV\XQDXQLGDGGHFRQWUROTXHJHVWLRQDODVLPXODFLyQHOpFWULFDFRQ
UHJXODFLRQHVHQWLHPSRUHDO(Q&KiYH]  VHSODQWHDXQGLVHxRGHXQD
PiTXLQDSDUDWHUDSLDGHPRYLPLHQWRSDVLYRFRQWLQXRHQODURGLOODFDSD]
GHYDULDUVXYHORFLGDGVXiQJXORGHRSHUDFLyQ\TXHSXHGDVHUXWLOL]DGD
SRUSDFLHQWHVGHGLVWLQWDVHGDGHVPLHQWUDVTXH&DVWLJOLRQL\FRO  \
3DFKDQR\FRO  GHVFULEHQXQDSDUDWRPX\VLPLODUGHUHKDELOLWDGRUGH
URGLOODTXHSHUPLWHTXHXQDSLHUQDGHXQSDFLHQWHVHGHVSODFHÀH[LRQDQGR
ODURGLOODHQXQUDQJRGHžVLQUHTXHULUHVIXHU]RDOJXQRHQHOOD
$Vt HQ ORV ~OWLPRV DxRV VH KDQ SUHVHQWDGR YDULDV SDWHQWHV TXH
PXHVWUDQODHYROXFLyQGHGLFKRVGLVSRVLWLYRVODVFXDOHVFRQVLGHUDQYDULDV
IRUPDV\FRQ¿JXUDFLRQHVJHRPpWULFDV YHUSRUHMHPSOR;LDRQLQJ\FRO
 'LQJ\FRO  \%UDQFK\FRO  RHOGHVDUUROODGRSRU
*XLGR  TXHSUHVHQWDXQUHKDELOLWDGRUGHVHLVJUDGRVGHOLEHUWDG
HTXLOLEUDGRVVHJ~QXQVLVWHPDUREyWLFRHQVHULHSDUDOHORKtEULGRSDUD
ODUHKDELOLWDFLyQGHODVH[WUHPLGDGHVVXSHULRUHVHLQIHULRUHV$GHPiV
FRQVLGHUDQGRTXHORVPRYLPLHQWRVGHUHKDELOLWDFLyQSXHGHQVHUHMHFXWDGRV
SRUHOSDFLHQWHVHKDQSDWHQWDGRGLVSRVLWLYRVFRQHQWUDGDVGDGDVSRUHO
XVXDULR YHUSRUHMHPSOR+DOO  R3XEOLFRYHU\%XUQV  TXH
HVWiQGLULJLGRVDyUWHVLVFRQVLGHUDQGRFDGHUDURGLOOD\WRELOOR 
(QODVVLJXLHQWHVVHFFLRQHVVHSUHVHQWDHOGHVDUUROORGHXQPHFDQLVPR
TXHFRQVLGHUDFDGDIDVHGHUHFXSHUDFLyQGHODURGLOODHQIRUPDGLVFUHWD
ORTXHFRQWULEX\HDHYDOXDUHODYDQFHHQFDGDIDVHGHODUHKDELOLWDFLyQ
SRU HO XVXDULR LPSXOVDGR \ FRQWURODGR SRU pO PLVPR \ DSR\DGR SRU
VX SURSLR SHVR OR TXH OR KDFH PiV YHUViWLO GH KHFKR SXHGH VHU
XWLOL]DGRHQFDVRVH[WUHPRVHQTXHH[LVWHLQPRYLOLGDGSHUPDQHQWHGH
ORVPLHPEURV(QODSULPHUDVHFFLyQVHSUHVHQWDHOSURFHGLPLHQWRGH
GLVHxRVHJXLGRGHODSUHVHQWDFLyQ\DQiOLVLVGHUHVXOWDGRV(QHVWDVH
XWLOL]DQSURJUDPDV&$'&$(SDUDKDFHUXQDVHOHFFLyQGHDOWHUQDWLYDV
GH GLIHUHQWHV WLSRV GH PHFDQLVPRV XWLOL]DQGR XQ DQiOLVLV MHUiUTXLFR
FRQ¿JXUDGRHQ([SHUW&KRLFHŠOXHJRVHKDFHXQDQiOLVLVFLQHPiWLFR
GHOPHFDQLVPRVHOHFFLRQDGRXWLOL]DQGR:RUNLQJ0RGHOŠHQHOFXDOVH
GH¿QHQODVGLPHQVLRQHVGHORVHVODERQHVSDUDREWHQHUHOPRYLPLHQWR
UHTXHULGR\VHXELFDODIDVHFLQHPiWLFDFUtWLFDHQODFXDOVHHIHFW~DXQ
DQiOLVLV HVWUXFWXUDO HVWiWLFR FRQ VLPXODFLRQHV QXPpULFDV YDOLGDGDV HQ
DISEÑO DE UN DISPOSITIVO PARA AUTOREHABILITACIÓN
PASIVA DE RODILLA NO SUPERVISADA 47

$QV\VŠFRQXQHUURUPHQRUGHO/RVUHVXOWDGRVREWHQLGRVHQHVWD
VHFFLyQVLUYHQGHEDVHSDUDFRQFOXLUTXHHOGLVHxRGHOUHKDELOLWDGRUGH
URGLOODSURSXHVWRFRQXQPHFDQLVPRGHPDQLYHODELHODFRUUHGHUDFRQ
XQJUDGRGHOLEHUWDG\FRPSXHVWRSRUWXERVGHDOXPLQLRHVFDSD]GH
VRSRUWDUODVFDUJDVPi[LPDVGDGDVSRUHOSDFLHQWHVLQVXIULUGHÀH[LRQHV
QLGHIRUPDFLRQHVSHUPDQHQWHV

PROCEDIMIENTO DE DISEÑO

3DUD GHVDUUROODU HO GLVHxR GHO UHKDELOLWDGRU GH URGLOOD VH GH¿QHQ
ORVUHTXHULPLHQWRVLQLFLDOHVORVFXDOHVHVWiQDVRFLDGRVDLQIRUPDFLyQ
DSRUWDGDSRUH[SHUWRVHQHOiUHDGHUHKDELOLWDFLyQHQGRQGHVHGHVSOLHJDQ
ORVGDWRVQHFHVDULRV\VX¿FLHQWHVSDUDODFRQFHSWXDOL]DFLyQ\SURFHVR
GH GLVHxR HO FXDO VH OOHYD D FDER HQ YDULDV HWDSDV /D SULPHUD HWDSD
FRUUHVSRQGHDODSUHVHQWDFLyQGHODSUREOHPiWLFDGHOHQWRUQRODFXDO
FRQVLGHUDTXHODSREODFLyQHQHVWXGLRVRQORVDGXOWRVGH(FXDGRUHQ
GRQGHVHHQFXHQWUDQUHJLVWUDGDVSHUVRQDVFRQGLVFDSDFLGDGGH
ODVFXDOHVVRQSHUVRQDVFRQGLVFDSDFLGDGItVLFDORTXHUHSUHVHQWD
DSUR[LPDGDPHQWHXQGHORVLQVFULWRVSRUHO&RQVHMR1DFLRQDO
SDUDOD,JXDOGDGGH'LVFDSDFLGDGHV &21$',6 'HHOORV
SDGHFHQGDxRVSDWROyJLFRVHQODURGLOODFRQVLGHUDQGRORVGDWRVH[WUDtGRV
GHO,QVWLWXWR1DFLRQDOGH(VWDGtVWLFD\&HQVRV ,1(& (VWDHV
OD SREODFLyQ GH LQWHUpV TXH SXHGH QHFHVLWDU HVWH WLSR GH GLVSRVLWLYRV
'HEHPHQFLRQDUVHTXHHVWRVHTXLSRVFRP~QPHQWHVRQLPSRUWDGRVOR
TXHVXHOHUHSUHVHQWDUXQDOWRFRVWRHQVXDGTXLVLFLyQ+D\SRUWDQWRXQD
QHFHVLGDGTXHFXEULUODFXDODXQDGDDODSRVLELOLGDGGHOOHYDUDFDEROD
DXWRUUHKDELOLWDFLyQQRVXSHUYLVDGDFRQVWLWX\HODEDVHSDUDSURSRQHUXQ
GLVSRVLWLYRGHJHRPHWUtDVHQFLOODFRQVWUXLGRFRQPDWHULDOHVGLVSRQLEOHV
\FRQHOPHQRUFRVWRSRVLEOH/DVHJXQGDHWDSDFRQVLGHUDXQDSDUWHGHO
SURFHVRFUHDWLYRSDUDGH¿QLUWUHVSURSXHVWDVGHPHFDQLVPRVDFRWDGDVSRU
ORVDQWHFHGHQWHVGHGLVSRVLWLYRV\SRUODWHFQRORJtDGLVSRQLEOHSDUDVX
FRQVWUXFFLyQ(QHVWDHWDSDVHHIHFW~DDGHPiVXQSURFHVRGHVHOHFFLyQ
GHDOWHUQDWLYDXWLOL]DQGRHOSURJUDPD([SHUW&KRLFHŠ\TXHGDFRPR
UHVXOWDGRHOPHFDQLVPRTXHVHGHVDUUROOD8QDWHUFHUDHWDSDDFRSODOD
HUJRQRPtD\ODVPHGLGDVDQWURSRPpWULFDVSDUDHOFLXGDGDQRHFXDWRULDQR
MARY J. VERGARA, JOSÉ M. SEGNINI, SEBASTIÁN PROVENZANO
48 ANDERSON P. CHAGNA, JESÚS E. DIEZ Y RIEGA

FRQVLGHUDQGRODLQIRUPDFLyQFRQWHQLGDHQ)UHLUH  \ODFRQWHPSODGD


HQODUHYLVWDGHLQYHVWLJDFLyQ(OLIH\OD2UJDQL]DFLyQ0XQGLDOGHOD
6DOXG 206  1XWULFLyQ\0XOWLQLYHO \DTXHQRVHWLHQHQWDEODV
DQWURSRPpWULFDVSDUDHOFLXGDGDQRHFXDWRULDQR
/D FXDUWD HWDSD FRUUHVSRQGH DO XVR GH SURJUDPDV &$'&$( FRQ
ORV FXDOHV VH SUHWHQGH TXH HO GLVHxR FXPSOD FRQ ORV UHTXHULPLHQWRV GH
UHKDELOLWDFLyQ+DFLHQGRSRUPHGLRGHHVWRVSURJUDPDVHODQiOLVLVHVWUXFWXUDO
\ GH IXQFLyQ VH SURSRQH OD JHRPHWUtD \ ORV PDWHULDOHV SHUWLQHQWHV TXH
VRSRUWDQODVIXHU]DVLQWURGXFLGDVSRUHOSDFLHQWHDOGLVSRVLWLYR)LQDOPHQWH
VHSODQWHDXQGLVHxRGLJLWDOGHXQUHKDELOLWDGRUGHURGLOODTXHFXPSOHFRQ
ORVUHTXHULPLHQWRVSODQWHDGRV\TXHHVWiHQSURFHVRGHVHUSDWHQWDGRFRPR
PRGHORGHXWLOLGDGWDOFRPRVHGHWDOODHQ9HUJDUD\FRO  

RESULTADOS Y DISCUSIÓN

3DUD OD VHOHFFLyQ GHO PHFDQLVPR D GHVDUUROODU VH VLJXH XQ DQiOLVLV
MHUiUTXLFRFRQHOSURJUDPD([SHUW&KRLFHŠFRQXQHVTXHPDSURSXHVWR
VHJ~QOD¿JXUD

)LJXUD)XQFLyQMHUiUTXLFDSDUDODVHOHFFLyQGHOPHFDQLVPR

Análisis jerárquico para selección de alternativas


/DDOWHUQDWLYDGHOPHFDQLVPRFRQEDUUDVDUWLFXODGDVUHVXOWDODRSFLyQ
PiV YLDEOH SDUD HO GLVHxR VHJ~Q VX EDMR FRVWR FDQWLGDG GH SLH]DV D
FRQVLGHUDU IDFLOLGDG GH HQVDPEODMH \ SHVR DVRFLDGR DO FRQMXQWR YHU
DISEÑO DE UN DISPOSITIVO PARA AUTOREHABILITACIÓN
PASIVA DE RODILLA NO SUPERVISADA 49

)LJ 8QDYH]HYDOXDGRVORVFULWHULRV\DOWHUQDWLYDVVHVLQWHWL]DQORV
GDWRVSDUDREWHQHUXQQLYHOJHQHUDOFRQUHVSHFWRDODIXQFLyQREMHWLYRGH
LQFRQVLVWHQFLDPHQRUTXHHOSHUPLWLGRGHSRUORTXHORVUHVXOWDGRV
VRQDFHSWDEOHVFRPRVHREVHUYDHQOD)LJ

)LJXUD(YDOXDFLyQGHODVDOWHUQDWLYDVGHORVPHFDQLVPRV

)LJXUD5HVXOWDGRVSDUDVtQWHVLVGHWLSRGHPHFDQLVPR

Análisis cinemático del mecanismo


$WUDYpVGHODVtQWHVLVFLQHPiWLFDGHOPHFDQLVPRVHHVWDEOHFHQODV
GLPHQVLRQHVGHORVHVODERQHVTXHORFRQIRUPDQDVtFRPRWDPELpQOD
WUD\HFWRULDTXHHVWRVGHVFULEHQ(VRSHUPLWHGHVDUUROODUXQDSURSXHVWD
TXHFXPSOHFRQORVPRYLPLHQWRVGHÀH[LyQ\H[WHQVLyQSURSXHVWRVSDUD
FDGD HWDSD GH UHKDELOLWDFLyQ$Vt ORV HVODERQHV GHO PHFDQLVPR \ ODV
IXHU]DVTXHGHEHQYHQFHUHVWiQDVRFLDGRVDODVGLPHQVLRQHVGHOPXVOR
MARY J. VERGARA, JOSÉ M. SEGNINI, SEBASTIÁN PROVENZANO
50 ANDERSON P. CHAGNA, JESÚS E. DIEZ Y RIEGA

ODSDQWRUULOOD\HOSHVRGHOXVXDULRFRPRVHREVHUYDHQOD7DEOD\VH
GHVFULEHFRQGHWDOOHHQ5RPHUR  ORFXDODVHJXUDTXHODSRVLFLyQ
GHODURGLOODGHOSDFLHQWHFRLQFLGDGHIRUPDDQiORJDFRQORVHVODERQHV
TXHWUDQVPLWHQHOPRYLPLHQWR
7DEOD'LPHQVLRQHV\SHVRVFRQVLGHUDGRVHQHOPHFDQLVPR

Muslo Pierna Pie


Longitud (cm) 40 43 25
Masa (kgf) 12 6 2

(OPHFDQLVPRSUHVHQWDGRHQOD¿JXUD\VLPXODGRHQ:RUNLQJ
0RGHOŠVHSUHVHQWDHQODIDVHFLQHPiWLFDFUtWLFDODFXDOFRUUHVSRQGH
DƒPHGLGRVHQWUHODVEDUUDVTXHDSR\DQHOPXVOR\ODSDQWRUULOOD
(OPHFDQLVPRSRVHHXQVLVWHPDGHEDUUDVTXHVHPXHYHQSRUPHGLRGH
XQD IXHU]D DSOLFDGD SRU HO XVXDULR OD FXDO JHQHUD XQ GHVSOD]DPLHQWR
TXHSHUPLWHYDULDUHOiQJXORGHODVEDUUDVGRQGHVHDSR\DODURGLOOD/DV
IXHU]DVHQFDGDXQRGHORVHVODERQHVSURGXFHQUHDFFLRQHVHQORVSLQHV
TXH VRQ XWLOL]DGDV HQ HO DQiOLVLV HVWUXFWXUDO 7RGR HO PHFDQLVPR HVWi
DSR\DGRVREUHXQDVXSHU¿FLHTXHDGHPiVGHVHUYLUGHEDQFDGDHQOD
JHRPHWUtD¿QDOFRUUHVSRQGHDXQDFFHVRULRGHOUHKDELOLWDGRU

)LJXUD3RVLFLyQFUtWLFDGHOPHFDQLVPRVLPXODGRHQ:RUNLQJ0RGHOŠ

Generación de la geometría. Propuesta con Autodesk Inventor®


/D ¿JXUD  PXHVWUD HO UHVXOWDGR GH OD JHQHUDFLyQ GH OD JHRPHWUtD
HIHFWXDGDHQHOSURJUDPD$XWRGHVN,QYHQWRUŠ
DISEÑO DE UN DISPOSITIVO PARA AUTOREHABILITACIÓN
PASIVA DE RODILLA NO SUPERVISADA 51

)LJXUD3URSXHVWD¿QDOGHGLVHxR

/RVHOHPHQWRVGHOGLVSRVLWLYRVHGHWDOODQHQODWDEOD(OGLVSRVLWLYR
SURSRUFLRQDXQPRYLPLHQWRGHÀH[LyQ\H[WHQVLyQHQODURGLOODYROXQWDULR
GH DFXHUGR FRQ FXDWUR IDVHV GH DXWRUUHKDELOLWDFLyQ YHU ¿JXUD E
HOHPHQWR TXHYDUtDSDUDORViQJXORVƒƒƒ\ƒPHGLGRV
HQWUH ODV EDUUDV DSR\D PXVOR \ SDQWRUULOOD ODV TXH FRUUHVSRQGHQ DO
HOHPHQWR/DHQWUDGDGHPRYLPLHQWRDQJXODUODSURSRUFLRQDHOPDQJR
HOHPHQWRGHOD¿JXUDD HOFXDOSRVHHXQDYDULDFLyQHQiQJXORGH
ƒƒƒ\ƒFRQUHODFLyQDODVSRVLFLRQHVWRPDGDVSRUODVEDUUDV
DSR\DPXVOR\SDQWRUULOOD(VWRViQJXORVGHODHQWUDGDFRQGLFLRQDQHO
PRYLPLHQWRGHOPHFDQLVPRGDGRSRUODPDQLYHOD HOHPHQWR TXHHVWi
¿MDDOPDQJRSRUXQDXQLyQ HOHPHQWR ODELHOD HOHPHQWR FRQYLHUWH
HOPRYLPLHQWRDQJXODUHQOLQHDODODFRSODUVHFRQODFRUUHGHUD HOHPHQWR
 \VXEDVH HOHPHQWR DWUDYpVGHGRVDUWLFXODFLRQHV HOHPHQWR 
(VWRVPRYLPLHQWRVVHGHVDUUROODQVHJ~QODSRVLFLyQGHORVVRSRUWHVGHO
PXVOR HOHPHQWR \ODSDQWRUULOOD HOHPHQWR WDO\FRPRVHDSUHFLD
HQOD¿JXUDDDPERVHVWiQFRQHFWDGRVVHJ~QODVEDUUDVGHOHOHPHQWR
\FRQXQDSR\DSLp HOHPHQWR TXHSHUPLWHSRVLFLRQDUWRGRHOPLHPEUR
LQIHULRUFRPSOHWR\VHHQFXHQWUDDFRSODGRDOUHVWRGHOVLVWHPDPHGLDQWH
XQLRQHV SRU PHGLR GHO HOHPHQWR   (O VLVWHPD VH HQFXHQWUD DQFODGR
PHGLDQWHHOHOHPHQWRHOFXDOFRUUHVSRQGHDODQFODMHGHOUHKDELOLWDGRU
GHURGLOOD\FX\DIRUPDHVHUJRQyPLFD\GHSHQGHGHODVPHGLGDVGHO
XVXDULRHQFRQFRUGDQFLDFRQHOHOHPHQWRTXHFRUUHVSRQGHDOHVSDOGDU
MARY J. VERGARA, JOSÉ M. SEGNINI, SEBASTIÁN PROVENZANO
52 ANDERSON P. CHAGNA, JESÚS E. DIEZ Y RIEGA

(QHVWH~OWLPRWDPELpQVHFRQVLGHUDQODVGLPHQVLRQHVGHODSDQWRUULOOD
TXHSXHGHQVHUYDULDEOHV\VHDMXVWDQVHJ~QHOHOHPHQWR

)LJXUD*HRPHWUtDSURSXHVWDD ,VRPHWUtDE 9LVWDODWHUDO

7DEOD'HVFULSFLyQGHORVHOHPHQWRVGHOUHKDELOLWDGRUGHURGLOOD

Descripción Elemento Cantidad


$QFODMHGHO55 1 1
0DQJR 2 1
Articulación 3 10
8QLRQHV 4 3
6RSRUWHPXVOR 5 1
6RSRUWHSDQWRUULOOD 6 1
$SR\RGHSLH 7 1
$MXVWHGHORQJLWXGSDQWRUULOOD 8 2
&RUUHGHUD 9 2
%DVHGHFRUUHGHUD 10 1
%DUUDVDSR\DPXVOR\SDQWRUULOOD 11 4
0DQLYHOD 12 1
%LHOD 13 1
(VSDOGDU 14 1
&XDWURIDVHVGHUHKDELOLWDFLyQ 15 1
DISEÑO DE UN DISPOSITIVO PARA AUTOREHABILITACIÓN
PASIVA DE RODILLA NO SUPERVISADA 53

Análisis estructural
(OSURWRWLSRGHOUHKDELOLWDGRUGHURGLOODVHSXHGHFRQVWUXLUHPSOHDQGR
WXERGHDOXPLQLRGHPPGHGLiPHWURH[WHULRU\PPGHHVSHVRUHO
FXDOVHHQFXHQWUDGLVSRQLEOHHQHOPHUFDGR(VWHWXERSUHVHQWDSURSLHGDGHV
PHFiQLFDVTXHFXPSOHQFRQODVVROLFLWDFLRQHVGHFDUJDUHTXHULGDVSDUD
TXHHOPHFDQLVPRFXPSODVXIXQFLyQ/DWDEODPXHVWUDODVSURSLHGDGHV
PHFiQLFDVQHFHVDULDVSDUDGHVDUUROODUODVLPXODFLyQQXPpULFD

7DEOD3URSLHGDGHVPHFiQLFDVGHODOXPLQLR
0yGXORGH (VIXHU]RGHÀXHQFLD (VIXHU]R~OWLPR 0yGXORGH<RXQJ
Poisson 03D GHWHQVLyQ 03D *3D
0,33 280 310 71

Condiciones de frontera para la simulación numérica


3DUDHOHVWXGLRGHOUHKDELOLWDGRUVHFRQVLGHUDODSRVLFLyQGHORVHVODERQHV
HQODIDVHFLQHPiWLFDFUtWLFDFRQIXHU]DVGH\1FRORFDGDVHQODVEDUUDV
TXHVRVWLHQHQDOPXVOR\ODSDQWRUULOODUHVSHFWLYDPHQWH/DVGLUHFFLRQHVGH
HVWDVVHGH¿QHQVHJ~QHOSHVR\VHQWLGRKDFLDDGHQWURGHOGLVSRVLWLYRWDO\
FRPRVHREVHUYDHQOD¿JXUD7DPELpQVHLQWHJUDXQVRSRUWH¿MRHQHOPDQJR
\ ODV VLJXLHQWHV FRQH[LRQHV  FRQWDFWRV GH WLSR ³QR VHSDUDFLyQ´ RFKR
DUWLFXODFLRQHVVHLVGHWLSRrevoluteXQD¿MD\XQDWUDVODFLRQDO YHU¿JXUD 
3DUDODVLPXODFLyQHVWUXFWXUDOHVWiWLFDVHXWLOL]DHOSURJUDPD$QV\VŠFRQ
HOFXDOVHJHQHUDQPDOODVUH¿QDGDVGHWRSRORJtDVFRPELQDGDVFRQWHWUDHGURV\
KH[DHGURVTXHFRQYHUJHQKDFLDODVROXFLyQFRQXQHUURUHVWUXFWXUDOPHQRUDO

)LJXUD)XHU]DVHQHOUHKDELOLWDGRU
MARY J. VERGARA, JOSÉ M. SEGNINI, SEBASTIÁN PROVENZANO
54 ANDERSON P. CHAGNA, JESÚS E. DIEZ Y RIEGA

5H¿QDPLHQWRGHPDOODSDUDHODQiOLVLVHVWiWLFR
6HKDFHXQPDOODGRFRQUH¿QDPLHQWRDGDSWDWLYRVHPLDXWRPiWLFRFX\D
~OWLPDPDOODFRQHOPHMRUUH¿QDPLHQWRREWHQLGRHQODVLPXODFLyQGHO
FRPSRUWDPLHQWRGHOUHKDELOLWDGRUVHPXHVWUDHQOD¿JXUD

)LJXUDÒOWLPDPDOODUH¿QDGD

/D]RQDGHHVWXGLRHQODTXHVHSUHVHQWDHOHVIXHU]RPi[LPRSDUD
FDGDUH¿QDPLHQWRFRUUHVSRQGHDODDUWLFXODFLyQGHODEDUUDTXHWUDQVPLWH
ODIXHU]D XQLGDDODELHOD SDUDPRYHUHOPXVOR\ODSDQWRUULOODHQFDGD
IDVHGHUHKDELOLWDFLyQGHODURGLOOD(QOD¿JXUDVHPXHVWUDHOHVIXHU]R
HTXLYDOHQWHGH9RQ0LVVHVHQHO~OWLPRUH¿QDPLHQWRGHPDOOD(QHVWD
SXHGHDGHPiVREVHUYDUVHTXHHOHVIXHU]RSURGXFLGRSRUODVFDUJDVGHO
PXVOR\GHODSDQWRUULOODVRQPHQRUHVTXHHOHVIXHU]RGHÀXHQFLDGHO
PDWHULDO\DTXHHVWHQRVREUHSDVDORV03DORTXHVLJQL¿FDTXHHO
GLVSRVLWLYRVRSRUWDUiHVHHVWDGRGHFDUJD

)LJXUD'LVWULEXFLyQGHORVHVIXHU]RVGH9RQ0LVVHV
DISEÑO DE UN DISPOSITIVO PARA AUTOREHABILITACIÓN
PASIVA DE RODILLA NO SUPERVISADA 55

(QOD¿JXUDVHREVHUYDTXHORVGHVSOD]DPLHQWRVQRVXSHUDQORV
PLOtPHWURVPLHQWUDVTXHOD)LJPXHVWUDTXHODGHIRUPDFLyQSURGXFLGD
SDUD ODV FDUJDV Pi[LPDV HVWDEOHFLGDV QR VREUHSDVD HO  3RU OR
DQWHULRUVHGHGXFHTXHFRQHVWDVPDJQLWXGHVGHFDUJDVGHRSHUDFLyQHO
UHKDELOLWDGRUQRIDOODUiSRUGHÀH[LyQQLGHIRUPDFLyQ

)LJXUD'LVWULEXFLyQGHORVGHVSOD]DPLHQWRVHQPP

)LJXUD'LVWULEXFLyQGHODVGHIRUPDFLRQHV

9HUL¿FDFLyQQXPpULFDGHOGLVSRVLWLYR&RQYHUJHQFLD
3DUDODYHUL¿FDFLyQGHODVLPXODFLyQHIHFWXDGDVHGHEHQDQDOL]DUGRV
FDUDFWHUtVWLFDVGHLQWHUpVODSULPHUDGHHVWiUHSUHVHQWDGDSRUODFXUYDGH
FRQYHUJHQFLDGHHVIXHU]RVGH9RQ0LVHVKDFLDODVROXFLyQ\ODVHJXQGD
HVWi DVRFLDGD DO HUURU HVWUXFWXUDO FRPHWLGR HQ OD UHSUHVHQWDFLyQ GH OD
JHRPHWUtDFRQODPDOODGHHOHPHQWRV¿QLWRV(QOD¿JXUDVHPXHVWUD
MARY J. VERGARA, JOSÉ M. SEGNINI, SEBASTIÁN PROVENZANO
56 ANDERSON P. CHAGNA, JESÚS E. DIEZ Y RIEGA

TXHVHKLFLHURQFXDWURUH¿QDPLHQWRVGHORVFXDOHVDSDUWLUGHOWHUFHUR
FRQYHUJHKDFLDHOHVIXHU]RPi[LPRGH03DORTXHGH¿QHHOYDORU
HVSHUDGRFRQXQHUURUGHH-WDOFRPRVHPXHVWUDHQOD¿JXUD

)LJXUD&RQYHUJHQFLDGHORVHVIXHU]RVPi[LPRV

)LJXUD(UURUHVWUXFWXUDO

CONCLUSIONES
/RVUHVXOWDGRVREWHQLGRVPXHVWUDQTXHVHSXHGHPDWHULDOL]DUXQGLVHxRGH
XQGLVSRVLWLYRSDUDDXWRUUHKDELOLWDFLyQQRVXSHUYLVDGD$GLFLRQDOPHQWH
HVWH GLVHxR SHUPLWH KDFHU XQD PHGLGD GH FRQWURO XWLOL]DQGR OD HVFDOD
LQFRUSRUDGDHQODFRUUHGHUDPHGLDQWHODFXDOHOXVXDULRSXHGHJHQHUDU
XQUHSRUWHGHDYDQFH
DISEÑO DE UN DISPOSITIVO PARA AUTOREHABILITACIÓN
PASIVA DE RODILLA NO SUPERVISADA 57

(OPHFDQLVPRGLVHxDGRSHUPLWHEORTXHDUFXDOTXLHUSRVLFLyQHQOD
ÀH[LyQ\H[WHQVLyQGHODURGLOODSRUORTXHVXXVRSXHGHH[SDQGLUVHD
SHUVRQDVFRQLQPRYLOL]DFLyQSHUPDQHQWHGHURGLOOD
(O DQiOLVLV FLQHPiWLFR \ HVWUXFWXUDO HVWiWLFR HIHFWXDGR XWLOL]DQGR
SURJUDPDV &$'&$( VLUYH SDUD GH¿QLU WRWDOPHQWH OD JHRPHWUtD \
PDWHULDOGHOGLVSRVLWLYRFRQEDVHHQXQPHFDQLVPRGHFXDWUREDUUDVGH
DOXPLQLRFRQXQLRQHV\DUWLFXODFLRQHVGHOPLVPRPDWHULDO/RVUHVXOWDGRV
REWHQLGRVHQODVLPXODFLyQPXHVWUDQTXHORVGHVSOD]DPLHQWRVGHOVLVWHPD
VRQ PHQRUHV D  PP FRQ GHIRUPDFLRQHV PHQRUHV DO  \ XQ
HVIXHU]RPi[LPRGH9RQ0LVHVGH03DORTXHLPSOLFDXQIDFWRUGH
VHJXULGDGPD\RUDFRQYHQLHQWHSDUDHTXLSRVXWLOL]DGRVHQHOVHFWRU
VDOXG(QHVWHHVWXGLRQRVHFRQVLGHUDODIDWLJD\DTXHHOUHKDELOLWDGRU
QRVHVRPHWHUiDDOWRVFLFORVHQVXXVR

AGRADECIMIENTOS
/RVDXWRUHVGHHVWHFDStWXORDJUDGHFHQDO&HQWURGH,QYHVWLJDFLRQHV
GHOD3RQWL¿FLD8QLYHUVLGDG&DWyOLFDGHO(FXDGRUVHGH,EDUUDSRUVX
FRQWULEXFLyQDVXGHVDUUROOR

REFERENCIAS
%ඈඅඅൾඇ-&'ൾൺඇ6*6ංൾ඀ൾඋඍ5-+ඈඐൾ7(*ඈඈൽඐංඇ9$  
A systematic review of measures of self-reported adherence to
unsupervised home-based rehabilitation exercise programmes,
and their psychometric properties%0-RSHQ  H
%උൺඇർඁ7ඁඈආൺඌ3&ඎඇඇංඇ඀ඁൺආ7ඁඈආൺඌ'ංඍඍආൺඋ(ൽඐൺඋൽ-ൺർඈൻඌ
&DOH  Robotic Knee Testing Device, Subjective Patient
Input Device and Method for using same  8QLWHG 6WDWHV
86 $ 3DWHQWH,QWHUQDFLRQDO
&ൺඌඍං඀අංඈඇං 0ൾඇൽඈඓൺ -ඎඅංඈ &pඌൺඋ +ඈඋඇൺ &ඎඌං 0ൺඏൾඋං඄ 9ൾඅൺ
6ൺൺඏൾൽඋൺ(ආංඋ$ඎ඀ඎඌඍඈ9ංඇൽඋඈඅൺ0ඎxඈඓ$ඇ඀ൾඅඅඈ$ඇඍඈඇංඈ
  Aparato rehabilitador de rodilla 8QLYHUVLGDG GH
,QJHQLHUtD \ 7HFQRORJtD   ,QWHUQDFLRQDO 3(  ] 
DKQ~PHURGHVROLFLWXGSHX
Q~PHUR V GHSULRULGDGSHX
MARY J. VERGARA, JOSÉ M. SEGNINI, SEBASTIÁN PROVENZANO
58 ANDERSON P. CHAGNA, JESÚS E. DIEZ Y RIEGA

&ඁගඏൾඓ$උඋൾඈඅൺ$   Diseño mecánico de una máquina para


terapia de movimiento pasivo continuo en la rodilla. Instituto
3ROLWpFQLFR1DFLRQDO0p[LFR')0p[LFR
CONADIS   &RQVHMR 1DFLRQDO SDUD OD ,JXDOGDG GH 'LVFDSDFL-
GDGHV Informe Estadístico de personas con discapacidad.
4XLWR (FXDGRU 0LQLVWHULR GH 6DOXG 3~EOLFD GH (FXDGRU
&RQVXOWDGRHOGHPDU]RGHOGHKWWSZZZFRQVHMR
GLVFDSDFLGDGHVJREHF
'ංඇ඀;ංൺඇ඀අඈඇ඀<ൺඇ඀7ൺඈ4ංൺඇ)ൾඇ඀'ංඇ඀-ංඍൺඇ඀=ඁൺඈ=ඁൾඇ
  .QHH MRLQW ÀH[LRQ IXQFWLRQ UHKDELOLWDWLRQ H[HUFLVH
device&KLQD&13DWHQWH,QWHUQDFLRQDO
(ඇ඀අංඌඁ %   Phases of Rehabilitation )RRW DQG DQNOH FOLQLFV
  
)උൾංඋൾ:5ൺආටඋൾඓ0%ൾඅආඈඇඍ30ൾඇൽංൾඍൺ06ංඅඏൺ.5ඈආൾඋඈ
10ඈඇ඀ൾ5  Encuesta Nacional de Salud y Nutrición.
(16$187(&8&RQVXOWDGRHOGHIHEUHURGHO
GHKWWSZZZHFXDGRUHQFLIUDVJREHFGRFXPHQWRVZHELQHF
(VWDGLVWLFDVB 6RFLDOHV (16$187063B(16$187(&8
BSGI
*ඎංൽඈ 'ൺඇංൾඅං   Calabrian High Tech Srl, Six degrees of
freedom self balanced hybrid serial-parallel robotic system
for rehabilitation of upper and lower limbs, left and right.
,QWHUQDFLRQDO3&7,%$+   
:2
*ඎඓආගඇ9ൺඅൽංඏංൺ&+%අൺඇർඈ2උඍൾ඀ൺ$2අංඏൾඋ6ൺඅൺඓൺඋ0$
$ඓർൺඋൺඒ 5ංඏൾඋൺ +5   Modelado y simulación de
un robot terapéutico para la rehabilitación de miembros
inferiores5HYLVWD,QJHQLHUtD%LRPpGLFD  
+ൺඅඅ-ൺർඈൻ5ൺඇൽඒ  Knee Rehabilitation Device8QLWHG6WDWHV
86 $ 3DWHQWH,QWHUQDFLRQDO
INEC  ,QVWLWXWR1DFLRQDOGH(VWDGtVWLFDV\&HQVRVAnuario de
estadísticas hospitalarias: egresos y camas. 4XLWR(FXDGRU
'LUHFFLyQGHHVWDGtVWLFDVVRFLRGHPRJUi¿FDV&RQVXOWDGRHO
GHPDU]RGHOGHKWWSZZZHFXDGRUHQFLIUDVJREHF
FDPDV\HJUHVRVKRVSLWDODULRV
DISEÑO DE UN DISPOSITIVO PARA AUTOREHABILITACIÓN
PASIVA DE RODILLA NO SUPERVISADA 59

/ඎඇൺ$ඏංඅඣඌ / +ൾඋඇගඇൽൾඓ*ඬආൾඓ / %ൾඅඍඋගඇ)ൾඋඇගඇൽൾඓ -


8උඋංඈඅൺ඀ඈංඍංൺ&ൺඅൽൾඋඬඇ**yPH]0LFKHO'0ൺඋඍටඇൾඓ
(ඌඉංඇඈඓൺ'9ංඅඅൾ඀ൺඌ$ർඈඌඍൺ(8උඋංඈඅൺ඀ඈංඍංൺ6ඈඌൺ*  
8VLQJ TXDOLW\ IXQFWLRQ GHSOR\PHQW PHWKRGRORJ\ WR WUDQVODWH
TXDOLWDWLYHWRTXDQWLWDWLYHUHTXLUHPHQWVLQWKHGHVLJQDRIDNQHH
UHWUDLQHU,QCharacterization and Development of Biosystems
and Biomaterials SS 6SULQJHU%HUOLQ+HLGHOEHUJ
1ඎඍඋංർංඬඇඒ0ඎඅඍංඇංඏൾඅ  Tablas de valores de la Organización
Mundial de la Salud 206 MXQLR>7DEOD@&RQVXOWDGR
HOIHEUHURGHKWWSQXWULFLRQ\PXOWLQLYHOEORJVSRW
FRPSWDEODVGHYDORUHVGHODRUJDQL]DFLRQKWPO
3ൺർඁൺඇඈ/  Diseño de dispositivo para rehabilitación de rodilla
DWUDYpVGHPRYLPLHQWRVGHÀH[LyQ\H[WHQVLyQHQSDFLHQWHV
adultos 7HVLVGHSUHJUDGR 8QLYHUVLGDGGHORV$QGHV0p-
ULGD9HQH]XHOD
3ඎൻඅංർඈඏൾඋ0ൺඋ඄ %ඎඋඇඌ-ൾൻඈൽංൺඁ  Knee And Joint Rehabilitation
Exercise Device8QLWHG6WDWHV8633DWHQWH
,QWHUQDFLRQDO
5ඈආൾඋඈ 0   Diseño y construcción de una yUWHVLV GH URGLOOD
destinada a la rehabilitación automatizada de la extremidad
inferior 7HVLVGHSUHJUDGR 8QLYHUVLGDG3ROLWpFQLFD6DOHVLDQD
&XHQFD(FXDGRU
6ർඁආංඍඍ&0pWUDLOOHU3  7KH0RWLRQ0DNHUŒDUHKDELOLWDWLRQ
V\VWHP FRPELQLQJ DQ RUWKRVLV ZLWK FORVHGORRS HOHFWULFDO
PXVFOHVWLPXODWLRQ,Q8th Vienna International Workshop on
)ਕ਎ਃਔਉਏ਎ਁ਌(਌ਅਃਔ਒ਉਃਁ਌6ਔਉ਍ਕ਌ਁਔਉਏ਎9ංൾඇൺ$ඎඌඍඋංൺ
6ංඇൽඁඎ%6ඁൺඋආൺ0%ංඋൺඒඇංൺ5  Comparison of Supervised
Rehabilitation vs. Home Based Unsupervised Rehabilitation
Programs after Total Knee Arthroplasty: A Pilot Study.
,QGLDQ-RXUQDO2I3K\VLRWKHUDS\ 2FFXSDWLRQDO7KHUDS\$Q
,QWHUQDWLRQDO-RXUQDO  5HWULHYHGIURPKWWSZZZL
VFKRODULQLQGH[SKSLMSRWDUWLFOHYLHZ
7ංൺඇ)+ൾൿඓඒ06(අൺඁංඇංൺ0  State of the Art Review of
Knee–Ankle–Foot Orthoses$QQDOVRIELRPHGLFDOHQJLQHHULQJ
  
JOHN CALLE SIGÜENCIA, PABLO ÁVILA CÁRDENAS
60 LUIS BENAVIDES PAREDES, MICAELA VILLA ROSERO

8ආർඁංൽ67ൺඋൺඉඁඈඇ඀ඉඁൺඇ3  'HVLJQDQGGHYHORSPHQWRID


VPDUWFRQWLQXRXVSDVVLYHPRWLRQGHYLFHIRUNQHHUHKDELOLWDWLRQ
In: Biomedical Engineering International Conference
%0(L&21 WK,(((
9ൾඋ඀ൺඋൺ06ൾ඀ඇංඇං-&ൺඋඏൺඃൺඅ(0ඈඋൺඅൾඌ(&ൺඓർඈ'2උඈඓർඈ
&ඁൺ඀ඇൺ$  Dispositivo para autorrehabilitación pasiva
de rodilla no supervisada.(FXDGRU,(3,3DWHQWH
0RGHORGH8WLOLGDG(QSUHQWD
:LONHQLQJ$%DLGHQ',YOHY2  Assistive acting movement
therapy devices with pneumatic rotary-type soft actuators.
%LRPHGL]LQLVFKH 7HFKQLN%LRPHGLFDO (QJLQHHULQJ   
445-456.
;ංൺඈඇංඇ඀/ං-ංൺඇඉංඇ඀/ඎ=ඁඈඇ඀ඌඁൾඇ඀6ඎඇ<ൺඇ7ൾඇ඀*ൺඇ඀<ൺඇ඀
  Flexible active and passive knee-joint rehabilitation
training device &KLQD &1  8QLY 1DQMLQJ
6FLHQFH 7HFK3DWHQWH,QWHUQDFLRQDO

También podría gustarte