Arturo Bertomeu-Motos

Universidad Miguel Hernández de Elche | UMH · Department of Systems and Automatic Engineering

Robotic rehabilitation has emerged as a promising approach to enhance motor recovery after stroke, but there is limited knowledge about its efficacy in individuals who have experienced severe stroke. The study presented in this paper aims to analyze the effect of robotic therapy on the recovery of patients with severe stroke when combined with conv...

Health personnel are often unavailable for supervised robot-aided neurorehabilitation in hospitals, and patients are usually challenged by transportation issues to get to hospital. Thus, a discontinuity between therapy in hospital and at home appears slowing down the upper extremity mobility recovery. The aim of this work was to develop a system, b...

Las Jornadas de Automática (JA) son el evento más importante del Comité Español de Automática (CEA), entidad científico-técnica con más de cincuenta años de vida y destinada a la difusión e implantación de la Automática en la sociedad. Este año se celebra la cuadragésima tercera edición de las JA, que constituyen el punto de encuentro de la comunida...

Este artículo presenta el proceso de planteamiento, análisis, diseño e implementación de un motor de tareas diseñado para facilitar la generación de actividades virtuales destinadas a terapias de neuro-rehabilitación de personas que han sufrido un accidente cerebrovascular, asistidos por dispositivos robóticos. Todo el desarrollo del sistema ha seg...

El Accidente Cerebrovascular (ACV), representa uno de los principales problemas en la salud pública en todo el mundo. Una nueva herramienta empleada en rehabilitación es la estimulación transcraneal por corriente directa (tDCS) no invasiva. Se trata de técnica segura, ya que no se realiza ningún tipo de punción o perforación sobre el paciente. Esta...

Este documento presenta una arquitectura de control multimodal para robótica de asistencia, la cual trata de tener en cuenta las decisiones del usuario para mejorar en el desempeño de las tareas al mismo tiempo que se implementa un método para minimizar posibles errores en el manejo del robot mediante un control visual. A través de la información p...

Several studies have shown that active, passive and imagery motor activities in healthy participants produce similar changes in the cortical activity over sensorimotor areas (sm). In this study, 26 stroke patients were recruited. They performed three different motor activities, according to the literature, with the paretic hand: active hand movemen...

Conventional rehabilitation strategies for stroke survivors become difficult when voluntary movements are severely disturbed. Combining passive limb mobilization, robotic devices and EEG-based brain-computer interfaces (BCI) systems might improve treatment and clinical follow-up of these patients, but detailed knowledge of neurophysiological mechan...

Robotics to support elderly people in living independently and to assist disabled people in carrying out the activities of daily living independently have demonstrated good results. Basically, there are two approaches: one of them is based on mobile robot assistants, such as Care-O-bot, PR2, and Tiago, among others; the other one is the use of an e...

The present study aims to evaluate the advantages of a master-slave robotic rehabilitation therapy in which the patient is assisted in real-time by a therapist. We have also explored if this type of strategy is applicable in a tele-rehabilitation environment. A pilot study has been carried out involving 10 patients who have performed a point-to-poi...

Background Interpersonal rehabilitation games, compared to single-player games, enhance motivation and intensity level. Usually, it is very difficult to limit the use of the system to pairs of impaired patients who have a similar skill level. Thus, such games must be dynamically adapted so that two players with different abilities can play together...

For severe motor paralysis patients, most rehabilitation strategies require residual movements that, however, are lacking in up to 30–50% of stroke survivors. In these patients, motor imagery based BCI systems might play a substantial role in rehabilitation strategies. 11 severely motor-injured stroke patients and 6 healthy participants participate...

Background Assistive technologies aim to increase quality of life, reduce dependence on care giver and on the long term care system. Several studies have demonstrated the effectiveness in the use of assistive technology for environment control and communication systems. The progress of brain-computer interfaces (BCI) research together with exoskele...

This paper presents the results of the force measurements performed with an industrial-grade load cell embedded in the linkage of a hand exoskeleton. The force sensor is placed such that it measures the interaction force between the index finger of the user and the actuator that controls its motion. This architecture has been used in an experimenta...

Brain-machine interfaces (bci) translate brain activity into control signals of external devices, such as robots, prostheses or computers. A well-established bci paradigm uses signal power modulations of fast rhythmic brain activity. Such power modulations are linked to a broad variety of sensorimotor, cognitive and perceptual tasks, and feedback f...

This paper presents a user study to evaluate the system’s performance by measuring objective indicators and subjective perception between the two versions of a planar rehabilitation robotic device: (i) PupArm system, called RoboTherapist 2D system for commercial purpose, designed and developed for clinical settings; and (ii) Homerehab system, devel...

Brain-computer interfaces (BCI) has being used to treat and assist neurologic patients to make the activities of daily living through electroencephalography (EEG) signals. Real movement or imagery movement produce changes in power of sensorimotor rhythms, called event-related (de)synchronization for the supression or for the increase of oscillatory...

Modulation of sensorimotor rhythm (SMR) power, a rhythmic brain oscillation physiologically linked to motor imagery, is a popular Brain-Machine Interface (BMI) paradigm, but its interplay with slower cortical rhythms, also involved in movement preparation and cognitive processing, is not entirely understood. In this study, we evaluated the changes...

Background: End-effector robots are commonly used in robot-assisted neuro-rehabilitation therapies for upper limbs where the patient's hand can be easily attached to a splint. Nevertheless, they are not able to estimate and control the kinematic configuration of the upper limb during the therapy. However, the Range of Motion (ROM) together with th...

This paper presents the mechanical design of a novel hand exoskeleton for assistance and rehabilitation therapies. As a solution for the movement transmission, the proposed device uses modular linkage that are attached to each finger by means of snap-in fixations. The linkage is kinematically and dynamically analyzed by means of simulations with An...

This document present a multimodal control architecture for assistive robotics which try to minimize the possible aleatory error during the grasping process by means of visual servoing techniques. Through the gaze tracking information provided by the Tobii Pro Glasses 2 the user is capable to interact with the system in order to select the desirabl...

The Activities of Daily Living (ADL) are used to refer the daily self care activities. Stroke survivors usually experience an impairment in the functionality limbs being affected their independent life. A complete assessment of a patient implies functional and analytic evaluation. However, the joints range cannot be always measured due to the compl...

A broad variety of perceptual, sensorimotor and cognitive operations have shown to be linked to electroencephalographic (eeg) oscillatory activity. For instance, movement preparation or cognitive processing were linked to delta band (1–5 Hz) oscillations. Such link could be exploited in brain-computer interface (bci) paradigms translating modulatio...

Post-stroke neurorehabilitation based on virtual therapies are performed completing repetitive exercises shown in visual electronic devices, whose content represents imaginary or daily life tasks. Currently, there are two ways of visualization of these task. 3D virtual environments are used to get a three dimensional space that represents the real...

From the time of Aristotle onward, there have been countless books written on the topic of movement in animals and humans. However, research of human motion, especially walking mechanisms, has increased over the last fifty years. The study of human body movement and its stability during locomotion involves both neuronal and mechanical aspect. The m...

This paper presents a novel kinematic reconstruction of the human arm chain with five degrees of freedom and the estimation of the shoulder location during rehabilitation therapy assisted by end-effector robotic devices. This algorithm is based on the pseudoinverse of the Jacobian through the acceleration of the upper arm, measured using an acceler...

This paper presents a kinematic reconstruction algorithm for the variables of the human arm joints in robot-aided neurorehabilitation therapies. The presented algorithm uses the end effector of a rehabilitation robot and an accelerometer placed onto the upper arm to compute accurate values of the human arm chain. The goal of this algorithm is to ob...

The use of robots in neuro-rehabilitation therapies has increased in recent years. One of them is the PUPArm robot, an end effector robot, that allows the patient recover the lost mobility in the upper limb joints after a stroke. Furthermore, it gives objective information about the improvement the patient's arm to the therapist. However, this data...

This paper presents an application formed by a classification method based on the architecture of ART neural network (Adaptive Resonance Theory) and the Fuzzy Set Theory to classify physiological reactions in order to automatically and dynamically adapt a robot-assisted rehabilitation therapy to the patient needs, using a three-dimensional task in...