Kinematic analysis of position and orientation of a 6 DoF lower limb orthosis for the rehabilitation of motor development in people with Down syndrome

The prevalence of orthopedic alterations is very frequent and high in children with Down Syndrome (DS). In Peru there are 8800 people with this syndrome according to CONADIS, who belong to a vulnerable sector within society; in addition, these people throughout their lives suffer various difficulties due to alterations in their locomotor system; therefore, for their rehabilitation they tend to resort to kinesitherapy and the use of orthoses. Due to this context, the present study aims to develop the kinematic analysis of position and orientation of a 6 GDL orthosis of the lower limb for the rehabilitation of motor development in people with Down Syndrome. Therefore, it was essential to determine the various conditions suffered by people with this syndrome, to then establish the ranges of motion and determine the Denavit-Hartenberg (D-H) parameters. The translation and rotation movements were detailed in the transformation matrices, and the equations of position, orientation and Euler's angle were also found. Finally, it was concluded that the mathematical analysis shown studied the indispensable articular coordinates for the movement of the orthosis.