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Dispositivo Robótico Multifuncional para la Rehabilitación de las Extremidades Superiores

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Dispositivo Robótico Multifuncional para la Rehabilitación de las Extremidades Superiores

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dc.contributor.author Mancisidor, Aitziber es_ES
dc.contributor.author Zubizarreta, Asier es_ES
dc.contributor.author Cabanes, Itziar es_ES
dc.contributor.author Bengoa, Pablo es_ES
dc.contributor.author Hyung Jung, Je es_ES
dc.date.accessioned 2020-05-14T09:26:54Z
dc.date.available 2020-05-14T09:26:54Z
dc.date.issued 2018-03-05
dc.identifier.issn 1697-7912
dc.identifier.uri http://hdl.handle.net/10251/143177
dc.description.abstract [ES] En este trabajo se presenta un dispositivo de rehabilitación innovador por su flexibilidad y eficiencia denominado Universal Haptic Pantograph (UHP). Este robot, gracias a su estructura multi-configurable permite la rehabilitación del miembro superior con un único dispositivo. Además, se ha diseñado con la habilidad de realizar diferentes tareas asistivas y resistivas, pudiendo así adaptarse al estado de recuperación del paciente. Finalmente, el software Telereha genera un entorno de realidad virtual que facilita la ejecución del ejercicio y aumenta la motivación del paciente. El sistema de control del robot se ha implementado entiempo real con el fin de garantizar la correcta ejecución de las tareas de rehabilitación. Usando este sistema, se han realizado diferentes ensayos experimentales.  Los resultados demuestran que el robot de rehabilitación UHP funciona  correctamente  con diferentes tareas de rehabilitación, realizando movimientos suaves y seguros que garantizan la seguridad del usuario. es_ES
dc.description.abstract [EN] This work presents an innovative rehabilitation device called Universal Haptic Pantograph (UHP). This robot, thanks to its multi-configurable structure allows the rehabilitation of all joints of the upper limb with a single mechanical device. In addition, it has been designed with the ability to perform dierent assistive and resistive tasks, allowing its adaptation to the recovery status of the patient. Finally, a support software, the Telereha generates a virtual reality environment, facilitating the execution of the exercise, while increasing the motivation of the patient. For the correct execution of the rehabilitation tasks the proposed algorithms have been implemented in real time. Also, dierent experimental tests have been carried out. Observing the results, it is concluded that the UHP rehabilitation robot works correctly with dierent rehabilitation tasks. es_ES
dc.description.sponsorship Este trabajo ha sido parcialmente financiado por el Ministerio de Economía y Competitividad MINECO & FEDER en el marco del proyecto DPI-2012-32882, así como por las becas PRE-2014-1-152 del Gobierno Vasco y BES-2013-066142 del Ministerio de Economía y Competitividad, el proyecto IT914- 16 del Gobierno Vasco, el proyecto PPG17/56 de la UPV/EHU, por Euskampus Fundazioa, por FIK y por el Ministerio de Ciencia e Innovación en el marco del proyecto PDI-020100-2009- ´ 21. es_ES
dc.language Español es_ES
dc.publisher Universitat Politècnica de València es_ES
dc.relation.ispartof Revista Iberoamericana de Automática e Informática industrial es_ES
dc.rights Reconocimiento - No comercial - Sin obra derivada (by-nc-nd) es_ES
dc.subject Upper limb rehabilitation es_ES
dc.subject Rehabilitation robots es_ES
dc.subject Assistive tasks es_ES
dc.subject Resistive tasks es_ES
dc.subject Impedance control es_ES
dc.subject Rehabilitation software es_ES
dc.subject Implementation es_ES
dc.subject Experimental validation es_ES
dc.subject Rehabilitación de las extremidades superiores es_ES
dc.subject Robots de rehabilitación es_ES
dc.subject Tareas asistivas es_ES
dc.subject Tareas resistivas es_ES
dc.subject Control de impedancia: Software de rehabilitación es_ES
dc.subject Implementación es_ES
dc.subject Validación experimental es_ES
dc.title Dispositivo Robótico Multifuncional para la Rehabilitación de las Extremidades Superiores es_ES
dc.title.alternative Multifunctional Robotic Device for the Rehabilitation of the Upper Limbs es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.4995/riai.2017.8820
dc.relation.projectID info:eu-repo/grantAgreement/MINECO//DPI2012-32882/ES/CONTROL DE POSICION-FUERZA EN TIEMPO REAL BASADOS EN MODELOS ELASTICOS PARA APLICACIONES DE ALTO RENDIMIENTO DE LOS ROBOTS PARALELOS/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/MICINN//PDI-020100-2009-21 es_ES
dc.relation.projectID info:eu-repo/grantAgreement/Eusko Jaurlaritza//IT914-16/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/Eusko Jaurlaritza//PRE-2014-1-152/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/MINECO//BES-2013-066142/ES/BES-2013-066142/ es_ES
dc.relation.projectID info:eu-repo/grantAgreement/UPV%2FEHU//PPG17%2F56/ es_ES
dc.rights.accessRights Abierto es_ES
dc.description.bibliographicCitation Mancisidor, A.; Zubizarreta, A.; Cabanes, I.; Bengoa, P.; Hyung Jung, J. (2018). Dispositivo Robótico Multifuncional para la Rehabilitación de las Extremidades Superiores. Revista Iberoamericana de Automática e Informática industrial. 15(2):180-191. https://doi.org/10.4995/riai.2017.8820 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.4995/riai.2017.8820 es_ES
dc.description.upvformatpinicio 180 es_ES
dc.description.upvformatpfin 191 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 15 es_ES
dc.description.issue 2 es_ES
dc.identifier.eissn 1697-7920
dc.relation.pasarela OJS\8820 es_ES
dc.contributor.funder Gobierno Vasco/Eusko Jaurlaritza es_ES
dc.contributor.funder Universidad del País Vasco/Euskal Herriko Unibertsitatea es_ES
dc.contributor.funder Ministerio de Ciencia e Innovación es_ES
dc.contributor.funder Ministerio de Economía y Competitividad es_ES
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