Design and Development of a Pneumatic Robot for Neurorehabilitation Therapies

  • Jorge A. DíezEmail author
  • Francisco J. Badesa
  • Luis D. Lledó
  • José M. Sabater
  • Nicolás García-Aracil
  • Isabel Beltrán
  • Ángela Bernabeu
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 418)


This paper presents a new robotic system for upper limb rehabilitation. It is designed to assist the upper limb in therapies for both sitting and supine position, helping patients to carry out the required movements when they could not perform them. In the first part of the paper, the mechanical design and the development of the first prototype is exposed in detail. In the second part, new control strategy that modify the behavior of the rehabilitation robot according to different potential and force fields has been presented. Then, some experimental results of the performance of the implemented control with healthy subjects are reported.


Rehabilitation robotics Robot design Mechanical design Control 


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Jorge A. Díez
    • 1
    Email author
  • Francisco J. Badesa
    • 1
  • Luis D. Lledó
    • 1
  • José M. Sabater
    • 1
  • Nicolás García-Aracil
    • 1
  • Isabel Beltrán
    • 1
  • Ángela Bernabeu
    • 1
  1. 1.Biomedical Neuroengineering Research GroupMiguel Hernandez UniversityElcheSpain

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