Interfaces y Sistemas en Rehabilitación y Compensación Funcional para la Autonomía Personal y la Terapia Clínica

Ramón Ceres, M. A. Mañanas, J. M. Azorín


La Bioingeniería constituye un área de trabajo e investigación multidisciplinar entre las ingenierías y la medicina que resulta de un interés humano, social y económico creciente. La automática en particular, en sus aspectos de percepción, modelado, control, monitorización, actuación e interacción, entre otros, ofrece importantes conocimientos y herramientas para abordar los problemas relacionados con el diagnóstico y el seguimiento de patologías, con las necesidades funcionales especiales e igualmente con las diferentes terapias a aplicar. Este tutorial presenta aspectos relacionados con el estado del arte y últimos avances en los siguientes campos: Interfaces para la interacción y comunicación de personas con discapacidad, robótica para la rehabilitación y compensación funcional, y sistemas para la mejora de la terapia clínica.

Palabras clave

Electroencefalografía; electromiografía; interfaz persona-máquina; rehabilitación; ventilación mecánica; tecnologías de apoyo; terapia clínica

Texto completo:



Achermann, P. and Borbély, A. A. (1998) Coherence analysis of the human sleep electroencephalogram, Neuroscience, 85(4), pp 1195-1208.

Alonso JF, Mañanas MA, Romero S, Hoyer D, Riba J, Barbanoj MJ. (2010) Drug effect on EEG connectivity assessed by linear and nonlinear couplings. Hum Brain Mapp. 31(3):487-97.

Allison, B.Z. and J.A. Pineda (2003). ERPs Evoked by Different Matrix Sizes: Implications for a BCI System. IEEE Trans. Neural Sys. Rehab. Eng., 11, 110–113.

Andreasen, D. S., Alien S. K. and Backus, D. A. (2005) Exoskeleton with EMG based active assistance for rehabilitation, Rehabilitation Robotics ICORR, 9th International Conference on, pp. 333-336, 2005.

Arimura H, Magome T, Yamashita Y, Yamamoto D (2009) Computer-aided diagnosis systems for brain diseases in magnetic resonance images, Algorithms 2:925-52.

Azorín, J.M., Iáñez, E., Fernández, E. Sabater J.M. (2010) Interacción ocular con robots: ayuda para discapacitados. DYNA Ingeniería e Industria, 85(9), 768-776.

Birbaumer, N., N. Ghanayim, T. Hinterberger, I. Iversen, B. Kotchoubey, A. Kübler, J. Perelmouter, E. Taub and H. Flor (1999). A Spelling Device for the Paralysed. Nature, 398, 297–298.

Barea, R., L. Boquete, M. Mazo and E. López (2002). Wheelchair Guidance Strategies Using EOG. Journal of Intelligent and Robotic Systems, 34(3), 279-299.

Baselli G., A. Porta, O. Rimoldi, M. Pagani, S. Cerutti (1997) Spectral Decomposition in Multichannel Recordings Based on Multivariate Parametric Identification. IEEE Trans. on Biomedical Engineering., 44(11):1092 – 1101.

Bennett JW, Glasziou PP (2003). Computerised reminders and feedback in medication management: A systematic review of randomised controlled trials, Med J Aust 3:217-22.

Caminal P.; Vallverdú M.; Giraldo B.; Benito S.; Voss A. (2005) Optimal symbolic dynamics approach for the analysis of the respiratory pattern. IEEE Transactions on Biomedical Engineering, 52(11):1832 -1839.

Caminal P., Giraldo B. F., Vallverdú M., Benito S., Schroeder R. and Voss A. (2010). Symbolic Dynamic Analysis of Relations Between Cardiac and Breathing Cycles in Patients on Weaning Trials, Annals of Biomedical Engineering, 38(8):2542-2552.

Carmena, J.M., M.A. Lebedev, R.E. Crist, J.E. O’Doherty, D.M. Santucci, D.F. Dimitrov, P.G. Patil, C.S. Henriquez and M.A.L. Nicolelis (2003). Learning to Control a BrainMachine Interface for Reaching and Grasping by Primates. PloS Biol., 1, 193–208.

Ceres R., J.L. Pons, L. Calderón, A.R. Jiménez and L. Azevedo (2005). PALMA, a robotic vehicle for assisted mobility of disabled children. IEEE Engineering in Medicine and Biology, 24(6), 55-63.

Ceres R., J.L. Pons, A. Frizera, J. Pastor, L. Calderón, I. Gonzalez, B. Saro and J. Rodríguez (2007). New Standing Up Patterns and Autonomous Mobility for SCI Patients. 9 Conference AATE 2007, 434-438.

Ceres R., J.L. Pons, L. Calderón y J. Moreno (2008). La robótica en la Discapacidad. Desarrollo de la prótesis diestra de extremidad inferior MANUS-HAND. Revista Iberoamericana de Automática e Informática, 5, 60-68.

Cozens, J. A. (1999) Robotic assistance of an active upper limb exercise in neurologically impaired patients, Rehabilitation Engineering, IEEE Transactions on, 7, 254-256.

Cullell A., J.C. Moreno, E. Rocon, A. Forner-Cordero and J.L. Pons (2009). Biologically based design of an actuator system for a knee-ankle-foot orthosis. Mechanism and Machine Theory, 44(4), 860-872.

DiCicco, M., Lucas, L., Matsuoka, Y., (2004) Comparison of Control Strategies for an EMG Controlled Orthotic Exoskeleton for the Hand, IEEE International Conference on Robotics & Automation,1622-27.

Dipietro, L., Ferraro, M., Palazzolo, J. J., Krebs, H. I., Volpe, B. T. and Hogan N., (2005) Customized interactive robotic treatment for stroke: EMG-triggered therapy, IEEE Trans. Neural Syst. Rehabil. Eng., 13, 325-334.

Dornhege, G., J.d.R. Millán, T. Hinterberger, D. McFarland and K.-R. Müller (2006). Towards Brain-Computer Interfacing. MIT Press. Cambridge, Massachusetts.

Durieux P, Trinquart L, Colombet I, Niès J, Walton RT, Rajeswaran A, et al (2008) Computerized advice on drug dosage to improve prescribing practice. Chichester, UK: John Wiley & Sons, Ltd

Farkas C, Hamilton-Wright A, Parsaei H, Stashuk DW (2010). A review of clinical quantitative electromyography. Crit Rev Biomed Eng 38(5):467-85.

Farry, K.A., Walker, I.D. and Baraniuk, R.G. (1996) Myoelectric teleoperation of a complex robotic hand, Robotics and Automation, IEEE Transactions on, 12, 775-788.

Farwell, L.A. and E. Donchin (1988). Talking Off the Top of Your Head: Toward a Mental Prosthesis Utilizing Event Related Brain Potentials. Electroenceph. Clin. Neurophysiol., 70, 510–523.

Fazekas, G., Horvath M. and Toth, A. (2006) A novel robot training system designed to supplement upper limb physiotherapy of patients with spastic hemiparesis, International Journal of Rehabilitation Research, 29, 251-4.

Ferenets, R., Lipping, R., Anier, A., Jantti, V., Melto, S., Hovilehto, S. (2006) Comparison of entropy and complexity measures for the assessment of depth of sedation, IEEE Transactions on Biomedical Engineering, 53(6), 1067-1077.

Forner-Cordero A., E.A. Turowska and J.L. Pons (2008). Bioinspiration and Biomimetism in Wearable Robots. Proceedings of the IEEE Conference on Robotics and Automation (ICRA-08), Pasadena - California, USA.

Frizera A., R. Ceres, J.L. Pons, A. Abellanas and R. Raya (2008). The smart walkers as geriatric assistive device. The simbiosis purpose. GERONTECHNOLOGY - International journal on the fundamental aspects of technology to serve the ageing society, 7 (3), pp. 108.

Galán, F., M. Nuttin, E. Lew, P.W. Ferrez, G. Vanacker, J. Philips and J.d.R. Millán (2008). A brain-actuated wheelchair: Asynchronous and non-invasive Braincopmuter interfaces for continuous control of robots. Clinical Neurophysiology, 119, 2159–2169.

Galindo, C., Gonzalez, J. and Fernandez-Madrigal, J. A. (2006) Control architecture for human-robot integration: application to a robotic wheelchair, IEEE Trans. Syst. Man. Cybern. B. Cybern., 36, 1053-1067.

Goud R, van Engen-Verheul M, de Keizer NF, Bal R, Hasman A, Hellemans IM, et al (2010). The effect of computerized decision support on barriers to guideline implementation: A qualitative study in outpatient cardiac rehabilitation. Int J Med Inf.;79(6):430-7.

Gao, X., X. Dingfeng, M. Cheng and S. Gao (2003). A BCIbased Environmental Controller for the Motion-Disabled. IEEE Trans. Neural Sys. Rehab. Eng., 11, 137–140.

Hermens HJ, Freriks B, Disselhorst-Klug C and Rau G (2000) Development of recommendations for SEMG sensors and sensor placement procedures, J Electromyogr Kinesiol, 10:361-74.

Hernandez, A.M.; Mañanas, M.A.; Costa-Castello, R. (2008) Learning Respiratory System Function in BME Studies by Means of a Virtual Laboratory: RespiLab, Education, IEEE Transactions on, 51(1): 24 – 34.

Hogan, N., Krebs, H. I., Rohrer, B., Palazzolo, J. J., Dipietro, L., Fasoli, S. E., Stein, J., Hughes, R., Frontera, W. R., Lynch D. and Volpe, B. T. (2006) Motions or muscles? Some behavioral factors underlying robotic assistance of motor recovery, J Rehabil Res Dev, 43(5), 605-18.

Hutchinson, T.E., K.P. White, W.N. Jr. Martin, K.C. Reichert, and L.A. Frey (1989). Human-computer interaction using eye-gaze input. IEEE Transactions on Systems, Man and Cybernetics. 19(6), 1527–1534.

Iáñez, E., Azorín, J.M., Úbeda, A., Ferrández J.M. and Fernández E. (2010) Mental tasks-based brain-robot interface. Robotics and Autonomous Systems, 58(12), 1238-45.

Iturrate, I. J.M. Antelis, A. Kübler and J. Mínguez (2009). A non invasive brain-actuated wheelchair based on P300 neurophysiological protocol and automated navigation. IEEE Transactions on Robotics, 25(3), 614-627.

Jagaroo V (2009) Neuroinformatics in Neuropyschology, Springer, Dordrecht.

Jezernik S., G. Colombo, T. Keller, H. Frueh and M. Morari (2003). Robotic Orthosis lokomat: A rehabilitation and research tool. Neuromodulation, 6(2), 108-115.

Kargov, A., T. Asfour, C. Pylatiuk, R. Oberle, H. Klosek, S. Schulz, K. Regenstein, G. Bretthauer and R. Dillmann (2005). Development of an Anthropomorphic Hand for a Mobile Assistive Robot. IEEE 9th International Conference on Rehabilitation Robotics: Frontiers of the HMI, June 28 - July 1, 2005, Chicago, Illinois.

Kawamoto K, Houlihan CA, Balas EA, Lobach DF (2005). Improving clinical practice using clinical decision support systems: A systematic review of trials to identify features critical to success. BMJ; 330: 7494-765.

Kiguchi, K., Esaki, R., Tsuruta, T., Watanabe, K. Fukuda, T. (2003) An Exoskeleton System for Elbow Joint Motion Rehabilitation, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2, 1228-33.

Krebs, H. I., Volpe, B. T., Aisen M. L. and Hogan, N. (2000) Increasing productivity and quality of care: robot-aided neuro-rehabilitation, J Rehabil Res Dev, 37(6), 639-52.

Kumar, A. and Krol, G. (1992) Binocular infrared oculography. Laryngoscope, 102, 367–378

Lapatki BG, Oostenveld R, Van Dijk JP, Jonas IE, Zwarts MJ, Stegeman DF (2010). Optimal placement of bipolar surface EMG electrodes in the face based on single motor unit analysis. Psychophysiology. 47(2):299-314.

Lauer RT, Stackhouse CA, Shewokis PA, Smith BT, Tucker CA, McCarthy J. (2007) A time–frequency based electromyographic analysis technique for use in cerebral palsy. Gait Posture, 26(3):420-7.

MacIntyre N.R., and Task Force Facilitated by the American College of Chest Physicians, the American Association for Respiratory Care, and the American College of Critical Care Medicine, (2002). Evidence-Based Guidelines for Weaning and Discontinuing Ventilatory Support, Chest, 120:375-396, and Respiratory Care, 47(1):69-90.

Mañanas MA, Rojas M, Mandrile F and Chaler J (2005) Evaluation of muscle activity and fatigue in extensor forearm muscles during isometric contractions, 27th Annual International Conference of the IEEE-EMBS, 5824-7.

McGill SM, Karpowicz A (2009). Exercises for spine stabilization: Motion/Motor patterns, stability progressions, and clinical technique. Arch Phys Med Rehabil.; 90:118- 26. Millán, J.d.R. (2002). Brain-Computer Interfaces. In: Handbook of Brain Theory and Neural Networks (M.A. Arbib, (Ed)), 178–181. MIT Press. Cambrid., Massachusets.

Merletti R, Parker P (2005). Physiology, engineering, and noninvasive applications. Electromyography.

Merletti R, Holobar A, Farina D (2008) Analysis of motor units with high-density surface electromyography. J Electromyograph Kinesiol.; 18(6):879-890.

Millán, J.d.R., F. Renkens, J. Mouriño and W. Gerstner (2004). Brain-Actuated Interaction. Artif. Intell., 159, 241–259.

Moreno, J.C., B. Freriks, F. Þorsteinsson, J. Sánchez and J.L. Pons (2004). Intelligent Knee-ankle-foot orthosis: The GAIT project approach. Orthopaedie-Technik, Leipzig.

Nicolau, M.C., J. Burcet and R.V. Rial (1995). Manual de técnicas en Electrofisiología clínica. Universidad de las Islas Baleares, Palma de Mallorca, España. pp. 215.

Nicolelis, M.A.L. (2001). Actions from Thoughts. Nature, 409, 403–407.

Niemenlehto P-, Juhola M (2009). Application of a modified two-point backward difference to sequential event detection in sEMG. J Med Eng Technol. 33(5):349-60.

Nishikawa, D., Yu, Wenwei, Yokoi, H. and Kakazu, Y. (1999) EMG prosthetic hand controller using real-time learning method, Systems, Man, and Cybernetics, IEEE International Conference on,1, 153-158.

Parker, P., Englehart, K. and Hudgins, B. (2006) Myoelectric signal processing for control of powered limb prostheses, Journal of Electromyography and Kinesiology, 16, 541-548.

Pierrot, F., Dombre, E., Dégoulange, E., Urbain, L., Caron, P., Boudet, S., Gariépy J. and Mégnien, J. (1999) Hippocrate: a safe robot arm for medical applications with force feedback, Med. Image Anal., 3, 285-300.

Ping Zhou, Lowery MM, Dewald JPA, Kuiken TA (2005) In: Towards improved myoelectric prosthesis control: High density surface EMG recording after targeted muscle reinnervation IEEE-EMBS: 4064-7.

Pino LJ, Stashuk DW, Boe SG, Doherty TJ (2009). Decision support for QEMG. In: M.B. Bromberg, editor. Supplements to Clinical Neurophysiology. 247-61.

Pons J. L. (2008). Wearable Robots: Biomechatronic exoskeletons. John Wiley & Sons.

Pons J.L., J.A. Gallego, E. Rocon and L.J. Barrios (2009). Multimodal BCI for tremor detection and modelling. Simposio CEA de Bioingeniería 2009, Elche, 1-2 de Junio.

Rees SE, Allerod C, Murley D, Zhao Y, et al (2006) Using Physiological Models and Decision Theory for Selecting Appropriate Ventilator Settings. J Clin Monitor Comput, 20:421-29.

Riba, J., Anderer, P., Jané, F., Saletu, B. y Barbanoj, M.J. (2004) Effects of the South American psychoactive beverage ayahuasca on regional brain electrical activity in humans: a functional neuroimaging study using LORETA. Neuropsychobiology 50, 89-101.

Rocon E., A.F. Ruiz, J.M. Belda-Lois, J.L. Pons y R. Ceres (2008). Diseño, desarrollo y validación de dispositivo robótico para la supresión del temblor patológico. Revista Iberoamericana de Automática e Informática, 5(2), 79-92.

Rojas M, Mañanas MA, Müller B, Chaler J. (2007) Activation of Forearm Muscles for Wrist Extension in Patients Affected by Lateral Epicondylitis, 29th Annual International Conference of the IEEE-EMBS: 1-4.

Romero S, Mañanas MA, Barbanoj MJ (2009) Influence of ocular filtering in EEG data on the assessment of druginduced effects on the brain, Hum Brain Map.30(5):1470-80

Rosen, J. Brand, M. Fuchs, M.B., Arcan, M. (2001) A Myosignal-Based Powered Exoskeleton System, IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans, 31(3), 210-22.

Ruiz A. F., E. Rocon, A. Forner-Cordero (2009). ExoskeletonBased Robotic Platform Applied in Biomechanical Modelling of the Human Upper Limb. Applied Bionics and Biomechanics, 6(2), 205 – 216.

Saletu, B. (1987) The use of pharmaco-EEG in drug profiling. Human psychopharmacology. Measures and methods. Ed.John Wiley & Sons Ltd.

Saletu, B., Anderer P. y Saletu-Zyhlarz, G.M (2006) EEG topography and tomography (LORETA) in the classification and evaluation of the pharmacodynamics of psychotropic drugs. Clin. EEG Neurosci. 37, 66-80.

Serna LY, Hernandez AM, Mañanas MA. (2010) Computational tool for modeling and simulation of mechanically ventilated patients. Conf Proc IEEE Eng Med Biol Soc., 569-72.

Serruya, M.D., N.G. Harsopoulos, L. Paninski, M.R. Fellows and K. Donoghue (2002). Instant Neural Control of a Movement Signal. Nature, 416, 141-142.

Shin H, Kim KH, Song C, Lee I, Lee K, Kang J, et al (2010). Electrodiagnosis support system for localizing neural injury in an upper limb. J Amer Med Inform Assoc 17(3):345-7.

Sirvent, J.L., J. M. Azorín, E. Iáñez, A. Úbeda and E. Fernández (2010). P300-Based Brain-Computer Interface for Internet Browsing. In: Trends in Practical Applications of Agents and Multiagent Systems, 8th International Conference on Practical Applications of Agents and Multiagent Systems, Advances in Intelligent and Soft Computing Vol. 71 (Y. Demazeau et al. (Ed)), 615-622. Springer-Verlag Berlin Heidelberg. Germany.

Srinivasan, V., Eswaran, C., Sriraam, N. (2007) Approximate entropy based epileptic detection using artificial neural networks, IEEE Trans. Information Technology in Biomedicine, 11(3), 288-295.

Staudenmann D, Kingma I, Stegeman DF, van Dieën JH. (2005) Towards optimal multi-channel EMG electrode configurations in muscle force estimation: A high density EMG study. J Electromyograph Kinesiol. 15(1):1-11.

Teixeira C. et al (2009) Work of Breathing during Successful Spontaneous Breathing Trial. J. Critical Care, 12(24),508- 14

Tobin M.J. (2001) Advances in mechanical ventilation. New Engl. J. Med., 344:1986-1996.

Tobin MJ., A. Jubran (2006) Weaning from mechanical ventilation. In: Tobin MJ. Editor, Principles and Practice of Mechanical Ventilation, New York: McGraw-Hill Inc. Mechanical Ventilation. EMBS-IEEE, 3569-72.

Tehrani FT and Roum JH (2008) Intelligent Decision Support Systems for Mechanical Ventilation. Artificial Intelligence in Medicine, 44:171-82.

Tehrani FT (2009) Critiquing Treatment and Setting Ventilatory Parameters by using Physiological Modeling, EMBC-IEEE, 286-8.

Úbeda A., J.P. Pinar, E. Iáñez and J.M. Azorín (2010). Combining Electrooculography and Haptics for Interfacing with Robots. 1st International Conference on Applied Bionics and Biomechanics, Venice (Italy), October 14-16.

Velasco-Álvarez, F., R. Ron-Angevin and M.J. Blanca-Mena (2010). Free virtual navigation using motor imagery through an asynchronous brain-computer interface. Presence: Teleoperators and Virtual Environments, 19(1), 71-81.

Wickelgren, I. (2003). Tapping the Mind. Science, 299,496–499.

Wolpaw, J.R., N. Birbaumer, D.J. McFarland, G. Pfurtscheller and T.M. Vaughan (2002). Brain-Computer Interfaces for Communication and Control. Clin. Neurophysiol., 113, 767–791.

Zwarts MJ and Stegeman DF (2003) Multichannel Surface EMG: Basic Aspects and Clinical Utility, Muscle Nerve, 28:1-17.

Abstract Views

Metrics Loading ...

Metrics powered by PLOS ALM


Citado por (artículos incluidos en Crossref)

This journal is a Crossref Cited-by Linking member. This list shows the references that citing the article automatically, if there are. For more information about the system please visit Crossref site

1. Rehabilitador de tobillo mediante identificación de señales electromiográficas clasificadas con Redes Neuronales
Elias Ivan Vera Narvaez, Luis Fernando Marin Quevedo, Xiomara Marina Duran Olivares
Cumbres  vol: 6  num.: 2  primera página: 9  año: 2020  
doi: 10.48190/cumbres.v6n2a1

Creative Commons License

Esta revista se publica bajo una Licencia Creative Commons Attribution-NonCommercial-CompartirIgual 4.0 International (CC BY-NC-SA 4.0)

Universitat Politècnica de València

e-ISSN: 1697-7920     ISSN: 1697-7912