Robot Biocooperativo con Modulación Háptica para Tareas de Neurorehabilitación de los Miembros Superiores

C. Rodriguez-Guerrero, J.C. Fraile, J. Pérez-Turiel, P. Rivera Farina


Los robots biocooperativos pueden mejorar las terapias tradicionales de rehabilitación proporcionando al paciente la asistencia adecuada en el instante adecuado. Distintos pacientes necesitan diferentes niveles de asistencia por parte del robot. Por ello, es muy interesante poder analizar el estado del paciente para, a partir de este análisis, determinar el grado de asistencia que el robot de rehabilitación debe proporcionarle.

En este artículo se presenta un novedoso método de rehabilitación para pacientes con discapacidad en los miembros superiores, que incluye las señales fisiológicas del paciente en el lazo de realimentación del control del robot de rehabilitación. Esto permite que el robot se “adapte” a las necesidades de cada paciente, regulando dinámicamente la cantidad de asistencia/resistencia de cada terapia, en función de los valores de las señales fisiológicas del paciente, que se miden y procesan “on-line”, mientras el paciente ejecuta las actividades de rehabilitación asistido por el robot. De esta forma, se conjuga la intensidad de la terapia con el estado de salud del paciente, pudiendo detectar y corregir (variando la intensidad de la actividad realizada), situaciones de estrés y ansiedad en el paciente, que podrían comprometer el resultado del programa de rehabilitación planificado.

Palabras clave

Robot; control biocooperativo; psicofisiología; rehabilitación; háptico

Texto completo:



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1. Using “human state aware” robots to enhance physical human–robot interaction in a cooperative scenario
Carlos Rodriguez Guerrero, Juan Carlos Fraile Marinero, Javier Perez Turiel, Victor Muñoz
Computer Methods and Programs in Biomedicine  vol: 112  num.: 2  primera página: 250  año: 2013  
doi: 10.1016/j.cmpb.2013.02.003

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