Abstract
This work presents the simulation and analysis of the influence of MX-64 and RX-64 servomotors from Robotis® in human shoulder movements related to glenohumeral joint for the case of a subject with upper brachial plexus injury. The model of each motor was introduced in a 3D musculoskeletal model of the upper limb in order to compare their response and contribution in three different movements. The length change in muscles, range of movement and muscle force was obtained and compare for a healthy subject and a patient with upper brachial plexus injury. The results demonstrate the feasibility of using these servomotors in an exoskeleton for the rehabilitation process of the injury, although the RX-64 has characteristics that make it more suitable for a rehabilitation exoskeleton.
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Acknowledgments
This work is supported by grants from the Spanish Government CICYT Project Ref. DPI2014-57220-C2-1-P, the Spanish Ministry of Economy and Competitiveness Ref. DI-14-06967 and by the Comunidad de Madrid who supports the project ROBOCITY2030-III Ref. S2013/MIT-2748.
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Destarac, M.A., García Cena, C.E., Mérida Martínez, A., Monge Chamorro, L.J., Saltarén Pazmiño, R. (2017). Analysis of the Influence of External Actuators on the Glenohumeral Joint Movements. In: Chang, I., Baca, J., Moreno, H., Carrera, I., Cardona, M. (eds) Advances in Automation and Robotics Research in Latin America. Lecture Notes in Networks and Systems, vol 13. Springer, Cham. https://doi.org/10.1007/978-3-319-54377-2_7
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DOI: https://doi.org/10.1007/978-3-319-54377-2_7
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