<?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>2594-1925</journal-id>
<journal-title><![CDATA[Revista de ciencias tecnológicas]]></journal-title>
<abbrev-journal-title><![CDATA[Rev. cienc. tecnol.]]></abbrev-journal-title>
<issn>2594-1925</issn>
<publisher>
<publisher-name><![CDATA[Universidad Autónoma de Baja California]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S2594-19252024000300101</article-id>
<article-id pub-id-type="doi">10.37636/recit.v7n3e359</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Diseño, construcción y control de un novedoso dispositivo de rehabilitación de tobillo]]></article-title>
<article-title xml:lang="en"><![CDATA[Design, construction and control of a novel ankle rehabilitation device]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Blanco-Figueroa]]></surname>
<given-names><![CDATA[Salomón]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Abúndez-Pliego]]></surname>
<given-names><![CDATA[Arturo]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Blanco-Ortega]]></surname>
<given-names><![CDATA[Andrés]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Jesús-Ramírez]]></surname>
<given-names><![CDATA[Fernanda De]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Loeza de la Cruz]]></surname>
<given-names><![CDATA[Yunel]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Centro Nacional de Investigación y Desarrollo Tecnológico Tecnológico Nacional de México ]]></institution>
<addr-line><![CDATA[Cuernavaca Morelos]]></addr-line>
<country>Mexico</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Universidad Tecnológica Emiliano Zapata  ]]></institution>
<addr-line><![CDATA[ Morelos]]></addr-line>
<country>Mexico</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>09</month>
<year>2024</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>09</month>
<year>2024</year>
</pub-date>
<volume>7</volume>
<numero>3</numero>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_arttext&amp;pid=S2594-19252024000300101&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_abstract&amp;pid=S2594-19252024000300101&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_pdf&amp;pid=S2594-19252024000300101&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen. En este artículo se presenta un novedoso dispositivo para rehabilitación de tobillo, de dos grados de libertad. El dispositivo se diseñó con base en las medidas antropométricas de la población mexicana y la cinemática natural del tobillo durante la marcha, por lo tanto, es capaz de reproducir los movimientos de dorsiflexión - plantarflexión y eversión - inversión. El prototipo virtual del rehabilitador de tobillo se simuló en MSC Adams® para determinar la respuesta dinámica al implementar técnicas de control Proporcional - Integral para cada movimiento. Los resultados de la simulación muestran que el prototipo alcanza una amplitud máxima y mínima de movimiento que se ajusta de manera precisa a los parámetros antropométricos del tobillo. Este comportamiento se observa manteniendo una velocidad constante en los motores impulsores, lo cual es crucial para garantizar la estabilidad y la precisión en el desempeño del dispositivo. El rehabilitador, impulsado por dos motorreductores que impulsan a mecanismos de cuatro barras, permite ejecutar movimientos simples, y también realizar combinaciones de dorsi/plantarflexión e inversión/eversión de manera simultánea.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract. A novel two-degree-of-freedom ankle rehabilitation device was designed and simulated in this work. The device was designed based on both the anthropometric measurements of the Mexican population and the natural kinematics of the ankle joint during walking; therefore, allows reproducing the dorsiflexion - plantarflexion and eversion - inversion movements. The virtual prototype of the ankle rehabilitator was simulated in MSC Adams® to determine the dynamic response by implementing Proportional - Integral control techniques for each movement. The simulation results show that the prototype achieves a maximum and minimum range of motion that precisely matches the anthropometric parameters of the ankle. This behaviour is observed by maintaining the motors operating at a constant speed, which is crucial to ensure stability and accuracy in the performance of the device. The rehabilitator, driven by two geared motors driving four-bar mechanisms, allows simple movements, as well as dorsi/plantarflexion and inversion/eversion combinations to be performed simultaneously.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[Sistema de rehabilitación]]></kwd>
<kwd lng="es"><![CDATA[Rehabilitador de tobillo]]></kwd>
<kwd lng="es"><![CDATA[Prototipo virtual]]></kwd>
<kwd lng="es"><![CDATA[Controlador PI]]></kwd>
<kwd lng="en"><![CDATA[Rehabilitation system]]></kwd>
<kwd lng="en"><![CDATA[Ankle rehabilitator]]></kwd>
<kwd lng="en"><![CDATA[Virtual prototype]]></kwd>
<kwd lng="en"><![CDATA[PID controller]]></kwd>
</kwd-group>
</article-meta>
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