Diseño del modelo de un dispositivo soft-robotics para rehabilitación del movimiento de pinza trípode estático de la mano humana
fotografías a color, gráficas, ilustraciones, tablas
- Autores:
-
Patiño Gutiérrez, Shelly Nathalya
- Tipo de recurso:
- Fecha de publicación:
- 2022
- Institución:
- Universidad Nacional de Colombia
- Repositorio:
- Universidad Nacional de Colombia
- Idioma:
- spa
- OAI Identifier:
- oai:repositorio.unal.edu.co:unal/82342
- Palabra clave:
- 620 - Ingeniería y operaciones afines
610 - Medicina y salud
Personas con discapacidades físicas - rehabilitación
Rehabilitación médica
Physically handicapped - rehabilitation
Medical rehabilitation
Robótica blanda
Férula flexible
Agarre de tenodesis
Rehabilitación de la mano
Portable
Háptica
Higiénico
Pinza trípode
Sof-robotics
Flexible splint
Tenodesis grasp
Soft glove,
Hand rehabilitation
Portable
Haptics
Hygienic
Tripod grip
- Rights
- openAccess
- License
- Atribución-NoComercial-SinDerivadas 4.0 Internacional
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dc.title.spa.fl_str_mv |
Diseño del modelo de un dispositivo soft-robotics para rehabilitación del movimiento de pinza trípode estático de la mano humana |
dc.title.translated.eng.fl_str_mv |
Model design of a soft-robotics device for rehabilitating the movement of the human hand’s static tripod gripper |
title |
Diseño del modelo de un dispositivo soft-robotics para rehabilitación del movimiento de pinza trípode estático de la mano humana |
spellingShingle |
Diseño del modelo de un dispositivo soft-robotics para rehabilitación del movimiento de pinza trípode estático de la mano humana 620 - Ingeniería y operaciones afines 610 - Medicina y salud Personas con discapacidades físicas - rehabilitación Rehabilitación médica Physically handicapped - rehabilitation Medical rehabilitation Robótica blanda Férula flexible Agarre de tenodesis Rehabilitación de la mano Portable Háptica Higiénico Pinza trípode Sof-robotics Flexible splint Tenodesis grasp Soft glove, Hand rehabilitation Portable Haptics Hygienic Tripod grip |
title_short |
Diseño del modelo de un dispositivo soft-robotics para rehabilitación del movimiento de pinza trípode estático de la mano humana |
title_full |
Diseño del modelo de un dispositivo soft-robotics para rehabilitación del movimiento de pinza trípode estático de la mano humana |
title_fullStr |
Diseño del modelo de un dispositivo soft-robotics para rehabilitación del movimiento de pinza trípode estático de la mano humana |
title_full_unstemmed |
Diseño del modelo de un dispositivo soft-robotics para rehabilitación del movimiento de pinza trípode estático de la mano humana |
title_sort |
Diseño del modelo de un dispositivo soft-robotics para rehabilitación del movimiento de pinza trípode estático de la mano humana |
dc.creator.fl_str_mv |
Patiño Gutiérrez, Shelly Nathalya |
dc.contributor.advisor.none.fl_str_mv |
Duarte Torres, Silvia Cristina Bolívar Nieto, Edgar A |
dc.contributor.author.none.fl_str_mv |
Patiño Gutiérrez, Shelly Nathalya |
dc.subject.ddc.spa.fl_str_mv |
620 - Ingeniería y operaciones afines 610 - Medicina y salud |
topic |
620 - Ingeniería y operaciones afines 610 - Medicina y salud Personas con discapacidades físicas - rehabilitación Rehabilitación médica Physically handicapped - rehabilitation Medical rehabilitation Robótica blanda Férula flexible Agarre de tenodesis Rehabilitación de la mano Portable Háptica Higiénico Pinza trípode Sof-robotics Flexible splint Tenodesis grasp Soft glove, Hand rehabilitation Portable Haptics Hygienic Tripod grip |
dc.subject.lemb.spa.fl_str_mv |
Personas con discapacidades físicas - rehabilitación Rehabilitación médica |
dc.subject.lemb.eng.fl_str_mv |
Physically handicapped - rehabilitation Medical rehabilitation |
dc.subject.proposal.spa.fl_str_mv |
Robótica blanda Férula flexible Agarre de tenodesis Rehabilitación de la mano Portable Háptica Higiénico Pinza trípode |
dc.subject.proposal.eng.fl_str_mv |
Sof-robotics Flexible splint Tenodesis grasp Soft glove, Hand rehabilitation Portable Haptics Hygienic Tripod grip |
description |
fotografías a color, gráficas, ilustraciones, tablas |
publishDate |
2022 |
dc.date.accessioned.none.fl_str_mv |
2022-09-29T17:55:25Z |
dc.date.available.none.fl_str_mv |
2022-09-29T17:55:25Z |
dc.date.issued.none.fl_str_mv |
2022-09-27 |
dc.type.spa.fl_str_mv |
Trabajo de grado - Maestría |
dc.type.driver.spa.fl_str_mv |
info:eu-repo/semantics/masterThesis |
dc.type.version.spa.fl_str_mv |
info:eu-repo/semantics/acceptedVersion |
dc.type.content.spa.fl_str_mv |
Text |
dc.type.redcol.spa.fl_str_mv |
http://purl.org/redcol/resource_type/TM |
status_str |
acceptedVersion |
dc.identifier.uri.none.fl_str_mv |
https://repositorio.unal.edu.co/handle/unal/82342 |
dc.identifier.instname.spa.fl_str_mv |
Universidad Nacional de Colombia |
dc.identifier.reponame.spa.fl_str_mv |
Repositorio Institucional Universidad Nacional de Colombia |
dc.identifier.repourl.spa.fl_str_mv |
https://repositorio.unal.edu.co/ |
url |
https://repositorio.unal.edu.co/handle/unal/82342 https://repositorio.unal.edu.co/ |
identifier_str_mv |
Universidad Nacional de Colombia Repositorio Institucional Universidad Nacional de Colombia |
dc.language.iso.spa.fl_str_mv |
spa |
language |
spa |
dc.relation.indexed.spa.fl_str_mv |
RedCol LaReferencia |
dc.relation.references.spa.fl_str_mv |
I. B. Abdallah and Y. Bouteraa, \DESIGN AND DEVELOPMENT OF 3D PRINTED MYOELECTRIC ROBOTIC EXOSKELETON FOR HAND," no. June, 2017. K. S. C. &. S. U. Saladin, Anatom a siolog a. M exico D.F: Mc Graw Hill Education, 6 ed., 2013 L. Amparo, A. López, M. Segundo, S. Maestría, and H. Departamento, \ARTÍCULO ORIGINAL Biomecánica y patrones funcionales de la mano," vol. 4, no. 1, pp. 14{24, 2012. K. H. A. David A. Morton, K. Bo Foreman, Anatomía macroscópica: Un panorama general. Mc Graw Hill Education, 2018. B. Mundial, \Informe mundial la discapacidad," Organización Mundial De La Salud, pp. 4 - 27, 2011. H. Collado, \Situación Mundial De Discapacidad," vol. 1, pp. 1-17, 2013. J. C. Yeo, H. K. Yap, W. Xi, Z. Wang, C.-H. Yeow, and C. T. Lim, \Soft Robotics: Flexible and Stretchable Strain Sensing Actuator for Wearable Soft Robotic Applications (Adv. Mater. Technol. 3/2016)," Advanced Materials Technologies, vol. 1, no. 3, 2016. S. Masiero, A. Celia, G. Rosati, and M. Armani, \Robotic-assisted rehabilitation of the upper limb after acute stroke," Archives of Physical Medicine and Rehabilitation, vol. 88, no. 2, pp. 142{149, 2007. G. Arriagada and N. Macchiavello, \Traumatismo raquimedular (trm). revisión bibliográfica," Revista Médica Clínica Las Condes, vol. 31, no. 5, pp. 423{429, 2020. Tema central: Columna T. D. E. Alta, R. Policloruro, and D. E. V. P. V. C. Para, \DISEÑO Y ELABORACI ÓN DE UNA FERULA TIPO TENODESIS FABRICADA EN RAQUIMEDULAR DESIGN AND DEVELOPMENT OF A TENODESIS-TYPE SPLINT MADE IN HIGH RESISTANCE THERMOPLASTIC POLYVINYL CHLORIDE ( PVC ) TO PROMOTE TRIPOD CLAMP GRIP IN PEOPLE WITH SPINAL CORD TRAUMA AFTERMATH Jorge Enrique Mayor B . 1 Resumen," 2012. Colprensa, \Estudiantes crean máquina que apoya la rehabilitación de miembros superiores." url = https://www.larepublica.co/economia/estudiantes-crean-maquina-queapoya- la-rehabilitacion-de-miembros-superiores-2585059, 2017. E. K. Jian and D. Gouwanda, \Wearable Hand Exoskeleton for Activities of Daily Living," 2018 IEEE-EMBS Conference on Biomedical Engineering and Sciences (IEC- BES), pp. 221-225, 2018. J. W.-h. Gudiño, J. Gudiño, F. Chávez, S. Charre, and J. Alcalá, \Robótica suave: diseño y construcción," vol. 7, pp. 42-49, 2019. T. Martineau and R. Vaidyanathan, \Studying the implementation of iterative impedance control for assistive hand rehabilitation using an exoskeleton," IEEE International Conference on Rehabilitation Robotics, pp. 1500-1505, 2017. M. A. Chávez Cardona, F. Rodríguez Spitia, and A. Baradica López, \EXOESQUELETOS PARA POTENCIAR LAS CAPACIDADES HUMANAS Y APOYAR LA REHABILITACION," Revista Ingeniería Biomédica, vol. 4, pp. 63 - 73, 06 2010. Y. Liu, W. Chen, and C. Xiong, \Simulation and fabrication of a pneumatic network actuator with capability of bending in multi-planes," 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 313-317, 2019. C. Link, D. Rus, and M. T. Tolley, \Design , fabrication and control of soft robots," 2018 D. Rus and M. T. Tolley, \Design, fabrication and control of soft robots Terms of Use Design, fabrication and control of soft robots," Nature, vol. 521, no. 7553, pp. 467-475, 2015. C. Feast, \The applications and bene ts of soft robotics," 2016. P. Polygerinos, K. C. Galloway, E. Savage, M. Herman, K. O'Donnell, and C. J. Walsh, \Soft robotic glove for hand rehabilitation and task speci c training," Proceedings - IEEE International Conference on Robotics and Automation, vol. 2015-June, no. June, pp. 2913-2919, 2015. A. Hadi, \SMASIS2016-9166 DESIGN AND PROTOTYPING OF A WEARABLE ASSISTIVE TOOL FOR HAND," pp. 1-7, 2017. S. Toochinda and W. Wannasuphoprasit, \Design and development of an assistive hand device for enhancing compatibility and comfortability," pp. 1-6, 2018 M. A. D. Ii, S. A. Fischer, P. W. Gauthier, C. H. M. Luna, E. A. Clancy, and G. S. Fischer, \A soft robotic exomusculature glove with integrated semg sensing for hand rehabilitation," pp. 24-26, 2013. K. O. Thielbar, K. M. Trianda lou, H. C. Fischer, J. M. O. Toole, M. L. Corrigan, J. M. Ochoa, M. E. Stoykov, and D. G. Kamper, \Bene ts of Using a Voice and EMG-Driven Actuated Glove to Support Occupational Therapy for Stroke Survivors," vol. 25, no. 3, pp. 297-305, 2017. P. Polygerinos, Z. Wang, K. C. Galloway, R. J. Wood, and C. J. Walsh, \Soft robotic glove for combined assistance and at-home rehabilitation," Robotics and Autonomous Systems, vol. 73, pp. 135-143, 2015. \Ninja flex 3d printing lament." url=https://ninjatek.com/wpcontent/ uploads/2019/10/NinjaFlex-TDS.pdf, Sep 2021. H. In, B. B. Kang, M. Sin, and K.-j. Cho, \Exo-Glove: A Wearable Robot for the Hand with a Soft Tendon Routing System," no. march 2015, pp. 97-105. D. H. Kim and H.-s. Park, \Cable Actuated Dexterous ( CADEX ) Glove for Effective Rehabilitation of the Hand for Patients with Neurological diseases," pp. 2305-2310, 2018. B. B. Kang, H. Lee, H. In, U. Jeong, J. Chung, and K.-j. Cho, \Development of a Polymer-Based Tendon-Driven Wearable Robotic Hand," pp. 3750-3755, 2016. S. Uetsuji, \Hand Exoskeleton for Continuous Passive Motion Postoperative Rehabilitation," 2017. A. Mohammadi, J. Lavranos, P. Choong, and D. Oetomo, \Flexo-glove : A 3d printed soft exoskeleton robotic glove for impaired hand rehabilitation and assistance," pp. 2120-2123, 2018. \Filamento tpe - aprenda todo sobre el material tpe para la impresión 3d." url=https://tractus3d.com/es/materials/tpe/, Oct 2020. J. L. Morse, M.-c. Jung, G. R. Bashford, and M. S. Hallbeck, \Maximal dynamic grip force and wrist torque : The e ects of gender , exertion direction , angular velocity , and wrist angle," vol. 37, pp. 737-742, 2006. H. In, B. B. Kang, M. Sin, and K.-j. Cho, \Exo-Glove: A Wearable Robot for the Hand with a Soft Tendon Routing System," IEEE Robotics & Automation Magazine, vol. 22, no. March 2015, pp. 97-105. |
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Universidad Nacional de Colombia |
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Bogotá - Ingeniería - Maestría en Ingeniería - Ingeniería Mecánica |
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Departamento de Ingeniería Mecánica y Mecatrónica |
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Facultad de Ingeniería |
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Atribución-NoComercial-SinDerivadas 4.0 Internacionalhttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Duarte Torres, Silvia Cristina70bdb927b83a2274b81f678147d9f8c5Bolívar Nieto, Edgar A06e0ed1b5ff5312dcbd3e2bd2dca4ef5Patiño Gutiérrez, Shelly Nathalya5d46fb600f2c5423b1abbc469440a4f72022-09-29T17:55:25Z2022-09-29T17:55:25Z2022-09-27https://repositorio.unal.edu.co/handle/unal/82342Universidad Nacional de ColombiaRepositorio Institucional Universidad Nacional de Colombiahttps://repositorio.unal.edu.co/fotografías a color, gráficas, ilustraciones, tablasEste trabajo presenta el diseño de un dispositivo mecánico, antropomórfico y antropométrico flexible (soft-robotics) de rehabilitación del movimiento pinza trípode estático de la mano, para aquellos individuos que presentan ausencia de movilidad en los dedos, pero conservan movimiento en la muñeca. La metodología se basó en el estudio de exoesqueletos soft-robotics para rehabilitación de los movimientos de la mano, además teniendo en cuenta el estudio de la biomecánica y anatomía de la mano se tomaron muestras antropométricas a 50 personas entre 18 a 50 años de edad; de esta muestra se tomó los valores más comunes de la talla, el género y mano dominante, siendo estos la talla S del género femenino diestras. El diseño del dispositivo se realizó en AutoCAD, los componentes se imprimieron en 3D y luego se ensamblaron. Este dispositivo incorpora un mecanismo biomecánico de accionamiento por variación de longitud simulando tendones, emulando así una dinámica de tenodesis; donde el accionamiento es generado a partir de la extensión y flexión de la muñeca, permitiendo al usuario un movimiento natural de flexión y extensión de los dedos II y III; como resultado del uso del dispositivo se tiene un engrama cerebral, permitiendo al usuario la posibilidad de realizar actividades básicas con su mano tales como el agarre de un lápiz y objetos pequeños, además el diseño es ergonómico, cómodo, liviano, de fácil adaptación y limpieza, siguiendo los protocolos de sanidad requeridos para Sars-cov-2. (Texto tomado de la fuente)This work presents the design of a flexible anthropomorphic and anthropometric mechanic device (soft-robotics) for rehabilitation of the static tripod movement of the hand, for those people who have no mobility in their fingers, but they still have full movement of the wrist. The methodology was based on the study of soft-robotic exoskeletons for the rehabilitation of hand’s movements; also taking into a count previous biomechanics and anatomic studies of the hand, were taking anthropometric samples of 50 people between 18 and 50 years of age; from this sample were taken the modal values for the size, the gender and hand, were chosen size S and right hand for female people. The design was done in AutoCAD, the components were 3D printed and then assembled. This mechanical device incorporates a biomechanical mechanism of actuation by variation of length simulating tendons, thus emulating a dynamic of tenodesis, where the actuation is generated from the extension and bending of the wrist, allowing the user a natural movement of flexion and extension of the fingers II and III; as a result of the use of this mechanical device generate brain engram, allowing the user the possibility to perform basic activities with their hands such as the grip of a pencil and small objects, in addition the design is ergonomic, comfortable, lightweight, easy to adapt and clean, following the required sanitation protocols for Sars-cov-2.MaestríaMagíster en Ingeniería - Ingeniería MecánicaBiomecánicaxiii, 82 páginasapplication/pdfspaUniversidad Nacional de ColombiaBogotá - Ingeniería - Maestría en Ingeniería - Ingeniería MecánicaDepartamento de Ingeniería Mecánica y MecatrónicaFacultad de IngenieríaBogotá, ColombiaUniversidad Nacional de Colombia - Sede Bogotá620 - Ingeniería y operaciones afines610 - Medicina y saludPersonas con discapacidades físicas - rehabilitaciónRehabilitación médicaPhysically handicapped - rehabilitationMedical rehabilitationRobótica blandaFérula flexibleAgarre de tenodesisRehabilitación de la manoPortableHápticaHigiénicoPinza trípodeSof-roboticsFlexible splintTenodesis graspSoft glove,Hand rehabilitationPortableHapticsHygienicTripod gripDiseño del modelo de un dispositivo soft-robotics para rehabilitación del movimiento de pinza trípode estático de la mano humanaModel design of a soft-robotics device for rehabilitating the movement of the human hand’s static tripod gripperTrabajo de grado - Maestríainfo:eu-repo/semantics/masterThesisinfo:eu-repo/semantics/acceptedVersionTexthttp://purl.org/redcol/resource_type/TMRedColLaReferenciaI. B. Abdallah and Y. Bouteraa, \DESIGN AND DEVELOPMENT OF 3D PRINTED MYOELECTRIC ROBOTIC EXOSKELETON FOR HAND," no. June, 2017.K. S. C. &. S. U. Saladin, Anatom a siolog a. M exico D.F: Mc Graw Hill Education, 6 ed., 2013L. Amparo, A. López, M. Segundo, S. Maestría, and H. Departamento, \ARTÍCULO ORIGINAL Biomecánica y patrones funcionales de la mano," vol. 4, no. 1, pp. 14{24, 2012.K. H. A. David A. Morton, K. Bo Foreman, Anatomía macroscópica: Un panorama general. Mc Graw Hill Education, 2018.B. Mundial, \Informe mundial la discapacidad," Organización Mundial De La Salud, pp. 4 - 27, 2011.H. Collado, \Situación Mundial De Discapacidad," vol. 1, pp. 1-17, 2013.J. C. Yeo, H. K. Yap, W. Xi, Z. Wang, C.-H. Yeow, and C. T. Lim, \Soft Robotics: Flexible and Stretchable Strain Sensing Actuator for Wearable Soft Robotic Applications (Adv. Mater. Technol. 3/2016)," Advanced Materials Technologies, vol. 1, no. 3, 2016.S. Masiero, A. Celia, G. Rosati, and M. Armani, \Robotic-assisted rehabilitation of the upper limb after acute stroke," Archives of Physical Medicine and Rehabilitation, vol. 88, no. 2, pp. 142{149, 2007.G. Arriagada and N. Macchiavello, \Traumatismo raquimedular (trm). revisión bibliográfica," Revista Médica Clínica Las Condes, vol. 31, no. 5, pp. 423{429, 2020. Tema central: ColumnaT. D. E. Alta, R. Policloruro, and D. E. V. P. V. C. Para, \DISEÑO Y ELABORACI ÓN DE UNA FERULA TIPO TENODESIS FABRICADA EN RAQUIMEDULAR DESIGN AND DEVELOPMENT OF A TENODESIS-TYPE SPLINT MADE IN HIGH RESISTANCE THERMOPLASTIC POLYVINYL CHLORIDE ( PVC ) TO PROMOTE TRIPOD CLAMP GRIP IN PEOPLE WITH SPINAL CORD TRAUMA AFTERMATH Jorge Enrique Mayor B . 1 Resumen," 2012.Colprensa, \Estudiantes crean máquina que apoya la rehabilitación de miembros superiores." url = https://www.larepublica.co/economia/estudiantes-crean-maquina-queapoya- la-rehabilitacion-de-miembros-superiores-2585059, 2017.E. K. Jian and D. Gouwanda, \Wearable Hand Exoskeleton for Activities of Daily Living," 2018 IEEE-EMBS Conference on Biomedical Engineering and Sciences (IEC- BES), pp. 221-225, 2018.J. W.-h. Gudiño, J. Gudiño, F. Chávez, S. Charre, and J. Alcalá, \Robótica suave: diseño y construcción," vol. 7, pp. 42-49, 2019.T. Martineau and R. Vaidyanathan, \Studying the implementation of iterative impedance control for assistive hand rehabilitation using an exoskeleton," IEEE International Conference on Rehabilitation Robotics, pp. 1500-1505, 2017.M. A. Chávez Cardona, F. Rodríguez Spitia, and A. Baradica López, \EXOESQUELETOS PARA POTENCIAR LAS CAPACIDADES HUMANAS Y APOYAR LA REHABILITACION," Revista Ingeniería Biomédica, vol. 4, pp. 63 - 73, 06 2010.Y. Liu, W. Chen, and C. Xiong, \Simulation and fabrication of a pneumatic network actuator with capability of bending in multi-planes," 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 313-317, 2019.C. Link, D. Rus, and M. T. Tolley, \Design , fabrication and control of soft robots," 2018D. Rus and M. T. Tolley, \Design, fabrication and control of soft robots Terms of Use Design, fabrication and control of soft robots," Nature, vol. 521, no. 7553, pp. 467-475, 2015.C. Feast, \The applications and bene ts of soft robotics," 2016.P. Polygerinos, K. C. Galloway, E. Savage, M. Herman, K. O'Donnell, and C. J. Walsh, \Soft robotic glove for hand rehabilitation and task speci c training," Proceedings - IEEE International Conference on Robotics and Automation, vol. 2015-June, no. June, pp. 2913-2919, 2015.A. Hadi, \SMASIS2016-9166 DESIGN AND PROTOTYPING OF A WEARABLE ASSISTIVE TOOL FOR HAND," pp. 1-7, 2017.S. Toochinda and W. Wannasuphoprasit, \Design and development of an assistive hand device for enhancing compatibility and comfortability," pp. 1-6, 2018M. A. D. Ii, S. A. Fischer, P. W. Gauthier, C. H. M. Luna, E. A. Clancy, and G. S. Fischer, \A soft robotic exomusculature glove with integrated semg sensing for hand rehabilitation," pp. 24-26, 2013.K. O. Thielbar, K. M. Trianda lou, H. C. Fischer, J. M. O. Toole, M. L. Corrigan, J. M. Ochoa, M. E. Stoykov, and D. G. Kamper, \Bene ts of Using a Voice and EMG-Driven Actuated Glove to Support Occupational Therapy for Stroke Survivors," vol. 25, no. 3, pp. 297-305, 2017.P. Polygerinos, Z. Wang, K. C. Galloway, R. J. Wood, and C. J. Walsh, \Soft robotic glove for combined assistance and at-home rehabilitation," Robotics and Autonomous Systems, vol. 73, pp. 135-143, 2015.\Ninja flex 3d printing lament." url=https://ninjatek.com/wpcontent/ uploads/2019/10/NinjaFlex-TDS.pdf, Sep 2021.H. In, B. B. Kang, M. Sin, and K.-j. Cho, \Exo-Glove: A Wearable Robot for the Hand with a Soft Tendon Routing System," no. march 2015, pp. 97-105.D. H. Kim and H.-s. 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March 2015, pp. 97-105.BibliotecariosEstudiantesGrupos comunitariosInvestigadoresMaestrosMedios de comunicaciónLICENSElicense.txtlicense.txttext/plain; charset=utf-85879https://repositorio.unal.edu.co/bitstream/unal/82342/3/license.txteb34b1cf90b7e1103fc9dfd26be24b4aMD53ORIGINAL1023923777.2022.pdf1023923777.2022.pdfTesis de Maestría en Ingeniería Mecánicaapplication/pdf20439520https://repositorio.unal.edu.co/bitstream/unal/82342/6/1023923777.2022.pdf4805e5e805e438f26c502c8076f7301fMD56THUMBNAIL1023923777.2022.pdf.jpg1023923777.2022.pdf.jpgGenerated Thumbnailimage/jpeg4975https://repositorio.unal.edu.co/bitstream/unal/82342/7/1023923777.2022.pdf.jpg6c7ad84b6e611828ddabc247ba732e8dMD57unal/82342oai:repositorio.unal.edu.co:unal/823422024-08-12 01:57:19.763Repositorio Institucional Universidad Nacional de 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