<?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>0121-7488</journal-id>
<journal-title><![CDATA[Ciencia en Desarrollo]]></journal-title>
<abbrev-journal-title><![CDATA[Ciencia en Desarrollo]]></abbrev-journal-title>
<issn>0121-7488</issn>
<publisher>
<publisher-name><![CDATA[Universidad Pedagógica y Tecnológica de Colombia]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S0121-74882023000100065</article-id>
<article-id pub-id-type="doi">10.19053/01217488.v14.n1.2023.14469</article-id>
<title-group>
<article-title xml:lang="es"><![CDATA[Modelo matemático de una articulación tipo rotoide accionada por músculos artificiales]]></article-title>
<article-title xml:lang="en"><![CDATA[Mathematical Model of a Rotator Type Joint Actuated by Artificial Muscles]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Zuniga]]></surname>
<given-names><![CDATA[Santiago]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Bravo]]></surname>
<given-names><![CDATA[Diego A.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Rengifo]]></surname>
<given-names><![CDATA[Carlos F.]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Universidad del Cauca Departamento de Física ]]></institution>
<addr-line><![CDATA[Popayan ]]></addr-line>
<country>Colombia</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Universidad del Cauca Departamento de Física ]]></institution>
<addr-line><![CDATA[Popayan ]]></addr-line>
<country>Colombia</country>
</aff>
<aff id="Af3">
<institution><![CDATA[,Universidad del Cauca  ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Colombia</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>06</month>
<year>2023</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>06</month>
<year>2023</year>
</pub-date>
<volume>14</volume>
<numero>1</numero>
<fpage>65</fpage>
<lpage>72</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_arttext&amp;pid=S0121-74882023000100065&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_abstract&amp;pid=S0121-74882023000100065&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.co/scielo.php?script=sci_pdf&amp;pid=S0121-74882023000100065&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen En este trabajo se muestra el modelo matemático de un músculo-tendón usado para el diseño de una articulación tipo rotoide accionada por músculos artificiales. El diseño asistido por computador (CAD) permite evaluar y validar los parámetros más convenientes para su construcción; la integración del modelo CAD con MATLAB nos permitió obtener los valores del rango del movimiento ± 20° y un torque máximo de 6,0 kg-cm ejercido sobre el eje de rotación por el prototipo.]]></p></abstract>
<abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract In this work, the mathematical model of a muscle-tendon used for the design of a rotator-type joint actuated by artificial muscles is shown. Computer-aided design (CAD) allows evaluating and validating the most convenient parameters for its construction; the integration of the CAD model with MATLAB allowed us to obtain the values of the range of motion ± 20° and a maximum torque of 6.0 kg-cm exerted on the axis of rotation for the prototype.]]></p></abstract>
<kwd-group>
<kwd lng="es"><![CDATA[Articulación tipo rotoide]]></kwd>
<kwd lng="es"><![CDATA[Modelo matemático]]></kwd>
<kwd lng="es"><![CDATA[Músculos artificiales]]></kwd>
<kwd lng="es"><![CDATA[Prototipo]]></kwd>
<kwd lng="en"><![CDATA[Rotary joint]]></kwd>
<kwd lng="en"><![CDATA[Mathematical model]]></kwd>
<kwd lng="en"><![CDATA[Artificial muscles]]></kwd>
<kwd lng="en"><![CDATA[Prototype]]></kwd>
</kwd-group>
</article-meta>
</front><back>
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