000			02840 a2200253 04500
001			9670
007			124 p.
008			050619s2022 ck a spa d
041	0		_aspa
082	0		_a629.892 _bM244d
100			_aMaldonado Mejía, Juan Camilo. _91013
245	0		_aDevelopment of a fabric-based soft hand exoskeleton for rehabilitation and assistance : _h[Recurso Electrónico] / _cJuan Camilo Maldonado Mejía.
260	4		_aBogotá (Colombia) : _bEscuela Colombiana de Ingeniería Julio Garavito, _c2022
300	4		_a124 paginas. _bgráficas.
500			_aTesis (Magíster en Ingeniería Electrónica)
520			_aAccording to the World Health Organization (WHO), stroke is the third leading cause of disability and the second leading cause of death worldwide, mainly affecting lower-middleincome countries. The upper limb, specifically the hand, is one of the most common motor disabilities following a stroke. The hand plays a vital role in performing activities of daily living (ADLs), so hand rehabilitation is essential. With technological development in recent years, soft robotics has emerged as a possible solution to provide physical and cognitive assistance during rehabilitation. This master’s thesis presents the development of two versions of a replicable hand exoskeleton for hand rehabilitation and assistance in ADLs based on soft robotics for stroke survivors, the ExHand Exoskeleton. The device is evaluated through standard functionality and usability tests on ten healthy subjects. The results demonstrate that the device satisfies the requirements of a hand exoskeleton for rehabilitation and assistance with a glove weight of 137 g and total system weight of 971 g, as well as its actuators perform a distal force of 9.18 ± 1.16 N, sufficient to grasp different objects associated with activities of daily living. Likewise, the person using the device can perform different daily living activities, such as writing and eating. In addition, the ExHand Exoskeleton can perform eight types of grasping with 24 objects of different shapes, sizes, textures, weights, and stiffness with 80.80% similarity to a healthy user. Also, the user satisfaction questionnaire results indicated a positive mean score of 4.27 ± 0.34 on a Likert scale ranging from 1 to 5. Finally, two surveys were conducted to evaluate the acceptance and intention of use by clinicians, showing that the device is a valuable and easy-to-use tool to support neurological patients.
650		0	_aROBÓTICA _956836
650		0	_aEXOESQUELETO DE MANO _918307
650		0	_aREHABILITACIÓN _91348
700			_aCifuentes García, Carlos Andrés _edirector. _962102
700			_aMúnera Ramírez, Marcela _eCo director. _962103
856			_uhttps://repositorio.escuelaing.edu.co/handle/001/2209
942			_2ddc _cTE
999			_c23330 _d23330