Exoesqueleto robótico para la rehabilitación del miembro superior del paciente hemipléjico.

The present work applies an integrating procedure with biomechanical and clinical design criteria in the development of an exoskeleton for the rehabilitation of the upper limb in patients afflicted with hemiplegic injuries. The research work presents the process of selection of force actuators, mechanisms of arm rotation and forearm pronosupination, as well as the mechanical structure. The design is complemented by simple control and safety systems and an interface for exoskeleton control by the physiotherapist. The designed prototype has been manufactured and tested in pilot studies carried out at the Santiago de Cuba Clinical Surgical Hospital Cuba, in hemiplegic patients suffering from painful shoulder syndrome. [ABSTRACT FROM AUTHOR]