<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>1815-5944</journal-id>
<journal-title><![CDATA[Ingeniería Mecánica]]></journal-title>
<abbrev-journal-title><![CDATA[Ingeniería Mecánica]]></abbrev-journal-title>
<issn>1815-5944</issn>
<publisher>
<publisher-name><![CDATA[Facultad de Ingeniería Mecánica. Instituto Superior Politécnico "José Antonio Echeverría"]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1815-59442020000300003</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Exoesqueleto robótico para la rehabilitación del miembro superior del paciente hemipléjico]]></article-title>
<article-title xml:lang="en"><![CDATA[Robotic exoskeleton for the rehabilitation of the upper limb in hemiplegic patients]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Broche-Vázquez]]></surname>
<given-names><![CDATA[Leonardo]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Torres-Quezada]]></surname>
<given-names><![CDATA[Mauricio]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Milanés-Hermosilla]]></surname>
<given-names><![CDATA[Daily]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[González-Romero]]></surname>
<given-names><![CDATA[Dainier]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Rodríguez-Serrezuela]]></surname>
<given-names><![CDATA[Ruthber]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Sagaró-Zamora]]></surname>
<given-names><![CDATA[Roberto]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad de Oriente Facultad de Ing. Mecánica ]]></institution>
<addr-line><![CDATA[ Santiago de Cuba]]></addr-line>
<country>Cuba</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Universidad de Oriente Facultad de Ing. Eléctrica ]]></institution>
<addr-line><![CDATA[ Santiago de Cuba]]></addr-line>
<country>Cuba</country>
</aff>
<aff id="Af3">
<institution><![CDATA[,Universidad de Oriente Facultad de Ing. Informática, Telecomunicaciones e Ing. Biomédica ]]></institution>
<addr-line><![CDATA[ Santiago de Cuba]]></addr-line>
<country>Cuba</country>
</aff>
<aff id="Af4">
<institution><![CDATA[,Corporación Universitaria del Huila Facultad de Ingeniería ]]></institution>
<addr-line><![CDATA[ Neiva]]></addr-line>
<country>Colombia</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>12</month>
<year>2020</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>12</month>
<year>2020</year>
</pub-date>
<volume>23</volume>
<numero>3</numero>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_arttext&amp;pid=S1815-59442020000300003&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_abstract&amp;pid=S1815-59442020000300003&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://scielo.sld.cu/scielo.php?script=sci_pdf&amp;pid=S1815-59442020000300003&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[RESUMEN El objetivo de este trabajo fue aplicar una metodología que integra criterios de diseño, biomecánicos y clínicos en el desarrollo del exoesqueleto para la rehabilitación del miembro superior en pacientes hemipléjicos. Se presenta el proceso de selección de los actuadores de fuerza, mecanismos de rotación del brazo y de pronosupinación del antebrazo, así como la armadura mecánica en su totalidad. Se complementa el diseño con sencillos sistemas de control, seguridad y una interfaz para el control del exoesqueleto por parte del fisioterapeuta. El prototipo diseñado ha sido construido y validado en pruebas pilotos practicadas en el Hospital Clínico Quirúrgico de Santiago de Cuba, Cuba, en pacientes hemipléjicos aquejados del síndrome del hombro doloroso.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[ABSTRACT 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.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[exoesqueleto]]></kwd>
<kwd lng="es"><![CDATA[robótica]]></kwd>
<kwd lng="es"><![CDATA[actuadores]]></kwd>
<kwd lng="es"><![CDATA[fisioterapia]]></kwd>
<kwd lng="en"><![CDATA[exoskeleton]]></kwd>
<kwd lng="en"><![CDATA[robotic]]></kwd>
<kwd lng="en"><![CDATA[actuators]]></kwd>
<kwd lng="en"><![CDATA[physiotherapy]]></kwd>
</kwd-group>
</article-meta>
</front><back>
<ref-list>
<ref id="B1">
<label>1</label><nlm-citation citation-type="book">
<source><![CDATA[Anuario estadístico de salud año 2014]]></source>
<year>2015</year>
<publisher-loc><![CDATA[La Habana ]]></publisher-loc>
<publisher-name><![CDATA[Dirección de estadísticas y registros médicos. Ministerio de Salud Pública de la República de Cuba]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B2">
<label>2</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Puentes]]></surname>
<given-names><![CDATA[M]]></given-names>
</name>
<name>
<surname><![CDATA[Cristina]]></surname>
<given-names><![CDATA[I]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Epidemiología de las enfermedades cerebrovasculares de origen extracraneal Revista cubana de Angiol. Circ]]></article-title>
<source><![CDATA[Vas]]></source>
<year>2014</year>
<volume>15</volume>
<numero>2</numero>
<issue>2</issue>
<page-range>74-83</page-range></nlm-citation>
</ref>
<ref id="B3">
<label>3</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Padilla]]></surname>
<given-names><![CDATA[G]]></given-names>
</name>
<name>
<surname><![CDATA[Puentes]]></surname>
<given-names><![CDATA[D]]></given-names>
</name>
<name>
<surname><![CDATA[Pardo]]></surname>
<given-names><![CDATA[C]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Estudio neuroepidemiológico piloto]]></article-title>
<source><![CDATA[Neurología Col]]></source>
<year>1984</year>
<volume>8</volume>
<page-range>133-9</page-range></nlm-citation>
</ref>
<ref id="B4">
<label>4</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Hernández]]></surname>
<given-names><![CDATA[BJ]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Indicadores del desempeño clínico fisioterapéutico en el manejo hospitalario temprano del accidente cerebrovascular (ACV)]]></article-title>
<source><![CDATA[Rev Cienc Salud]]></source>
<year>2013</year>
<volume>11</volume>
<numero>1</numero>
<issue>1</issue>
<page-range>7-34</page-range></nlm-citation>
</ref>
<ref id="B5">
<label>5</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Lombillo Laferté]]></surname>
<given-names><![CDATA[LM]]></given-names>
</name>
<name>
<surname><![CDATA[Martínez Segón]]></surname>
<given-names><![CDATA[S]]></given-names>
</name>
<name>
<surname><![CDATA[Serra Valdés]]></surname>
<given-names><![CDATA[Y]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Complicaciones en pacientes hemipléjicos por ictus]]></article-title>
<source><![CDATA[Rev. Cubana de Medicina]]></source>
<year>2014</year>
<volume>53</volume>
<numero>2</numero>
<issue>2</issue>
<page-range>134-43</page-range></nlm-citation>
</ref>
<ref id="B6">
<label>6</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Lo]]></surname>
<given-names><![CDATA[AC]]></given-names>
</name>
<name>
<surname><![CDATA[Guarino]]></surname>
<given-names><![CDATA[PD]]></given-names>
</name>
<name>
<surname><![CDATA[Richards]]></surname>
<given-names><![CDATA[LG]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Robot-assisted therapy for long-term upper-limb impairment after stroke]]></article-title>
<source><![CDATA[N Engl J Med]]></source>
<year>2010</year>
<volume>362</volume>
<page-range>1772-83</page-range></nlm-citation>
</ref>
<ref id="B7">
<label>7</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Staubli]]></surname>
<given-names><![CDATA[P]]></given-names>
</name>
<name>
<surname><![CDATA[Nef]]></surname>
<given-names><![CDATA[T]]></given-names>
</name>
<name>
<surname><![CDATA[Klamroth-Marganska]]></surname>
<given-names><![CDATA[V]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Effects of intensive arm training with the rehabilitation robot ARMin II in chronic stroke patients four single-cases]]></article-title>
<source><![CDATA[J Neuro Eng Rehabil]]></source>
<year>2009</year>
<volume>6</volume>
<page-range>46-56</page-range></nlm-citation>
</ref>
<ref id="B8">
<label>8</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Boninger]]></surname>
<given-names><![CDATA[ML]]></given-names>
</name>
<name>
<surname><![CDATA[Cowan]]></surname>
<given-names><![CDATA[R]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Why do we need improved mobility technology?]]></article-title>
<source><![CDATA[J Neuro Eng.Rehabil]]></source>
<year>2012</year>
<volume>9</volume>
<numero>1</numero>
<issue>1</issue>
<page-range>16</page-range></nlm-citation>
</ref>
<ref id="B9">
<label>9</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Winter]]></surname>
<given-names><![CDATA[DA.]]></given-names>
</name>
</person-group>
<source><![CDATA[Biomechanics and Motor Control of Human Movement]]></source>
<year>2009</year>
<edition>4th</edition>
<publisher-loc><![CDATA[Ontario, Canada ]]></publisher-loc>
<publisher-name><![CDATA[John Wiley &amp; Sons Inc.]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B10">
<label>10</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Torres]]></surname>
<given-names><![CDATA[M]]></given-names>
</name>
<name>
<surname><![CDATA[Sagaró]]></surname>
<given-names><![CDATA[R]]></given-names>
</name>
<name>
<surname><![CDATA[Broche]]></surname>
<given-names><![CDATA[L]]></given-names>
</name>
</person-group>
<source><![CDATA[Robotic System for Upper Limb Rehabilitation]]></source>
<year>2015</year>
<publisher-loc><![CDATA[IFMBE Proceedings ]]></publisher-loc>
<publisher-name><![CDATA[Springer International Publishing Switzerland]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B11">
<label>11</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Torres]]></surname>
<given-names><![CDATA[M]]></given-names>
</name>
<name>
<surname><![CDATA[Sagaró]]></surname>
<given-names><![CDATA[R]]></given-names>
</name>
<name>
<surname><![CDATA[Broche]]></surname>
<given-names><![CDATA[L]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Robotic Training System for Upper Limb Rehabilitation]]></article-title>
<source><![CDATA[Ingeniería y Universidad]]></source>
<year>2014</year>
<volume>18</volume>
<numero>2</numero>
<issue>2</issue>
<page-range>35-252</page-range></nlm-citation>
</ref>
<ref id="B12">
<label>12</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Rodríguez Serrezuela]]></surname>
<given-names><![CDATA[R]]></given-names>
</name>
<name>
<surname><![CDATA[Torres]]></surname>
<given-names><![CDATA[M]]></given-names>
</name>
<name>
<surname><![CDATA[Hernández Zayas]]></surname>
<given-names><![CDATA[M]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Robotic therapy for the hemiplegic shoulder pain a pilot study]]></article-title>
<source><![CDATA[Journal of NeuroEngineering and Rehabilitation]]></source>
<year>2020</year>
<volume>17</volume>
<page-range>54-64</page-range></nlm-citation>
</ref>
<ref id="B13">
<label>13</label><nlm-citation citation-type="book">
<source><![CDATA[AGMA 2001-B88.Factores fundamentales de calidad y métodos de cálculo para dientes de engranajes cilíndricos rectos y helicoidales]]></source>
<year>1988</year>
<publisher-name><![CDATA[American Gear Manufacturers Association]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B14">
<label>14</label><nlm-citation citation-type="book">
<source><![CDATA[AGMA 2001-A88. Manual de clasificación e inspección de engranes, tolerancias y métodos de medición para engranes de talla recta y engranes helicoidales]]></source>
<year>1988</year>
<publisher-name><![CDATA[American Gear Manufacturers Association]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B15">
<label>15</label><nlm-citation citation-type="book">
<source><![CDATA[Mott R. Diseño de Elementos de Máquinas]]></source>
<year>2009</year>
<edition>Segunda</edition>
<publisher-name><![CDATA[Prentice Hall Hispanoamericana, S.A.]]></publisher-name>
</nlm-citation>
</ref>
<ref id="B16">
<label>16</label><nlm-citation citation-type="journal">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Lipp]]></surname>
<given-names><![CDATA[R]]></given-names>
</name>
</person-group>
<article-title xml:lang=""><![CDATA[Avoiding Tooth Interference in Gears]]></article-title>
<source><![CDATA[Machine Design]]></source>
<year>1982</year>
<volume>54</volume>
<numero>1</numero>
<issue>1</issue>
<page-range>122-4</page-range></nlm-citation>
</ref>
<ref id="B17">
<label>17</label><nlm-citation citation-type="book">
<person-group person-group-type="author">
<name>
<surname><![CDATA[Richard]]></surname>
<given-names><![CDATA[G.]]></given-names>
</name>
</person-group>
<source><![CDATA[Diseño en Ingeniería Mecánica]]></source>
<year>2008</year>
<edition>Octava</edition>
<publisher-name><![CDATA[México McGraw-Hill/Interamericana]]></publisher-name>
</nlm-citation>
</ref>
</ref-list>
</back>
</article>
