(For a full list of publications see below)
This paper presents the RobHand (Robot for Hand Rehabilitation) system, which is an exoskeleton that supports EMG-driven assisted bilateral by using a custom-made low-cost EMG real-time embedded solution. A threshold non-pattern recognition EMG-driven control for RobHand has been developed, and it detects hand gestures of the healthy hand and replicates the gesture on the exoskeleton placed on the paretic hand.
Cisnal, A., Pérez-Turiel, J., Fraile, J. C., Sierra, D., & de la Fuente, E.
(2021) IEEE Access, vol. 9, pp. 137809-137823
This paper aims to go a step further with a platform that includes a teleoperated robot and an autonomous robot dedicated to secondary tasks. In this way, the aim is to reduce the surgeon’s workload so that he can concentrate on his main task. Thus, the article focuses on the description and implementation of a navigator that coordinates both robots via a force/position control. Finally, both the navigation and control scheme were validated by in-vitro tests.
Muñoz, V.F., Garcia-Morales, I., Fraile-Marinero, J.C., Perez-Turiel, J., Muñoz-Garcia, A., Bauzano, E., Rivas-Blanco, I., Sabater-Navarro, J.M., & de la Fuente, E.
Tackling Post-COVID-19 Rehabilitation Challenges: A Pilot Clinical Trial Investigating the Role of Robotic-Assisted Hand Rehabilitation
Cisnal, A., Alonso-Linaje, G., Fraile, JC., Pérez-Turiel, J., Álvarez, P., Martinez, S.
(2024) Journal of Clinical Medicine, vol. 13, 1543
Design and Analysis of the M3Rob: A Robotic Platform for Wrist and Hand Rehabilitation
Alonso-Linaje, G., Cisnal, A., Fraile, JC., Pérez-Turiel, J.
(2024) IEEE Access, vol. 12, 30472-30481
Lightweight real-time hand segmentation leveraging MediaPipe landmark detection
Sánchez-Brizuela, G., Cisnal, A., De la Fuente-López, E., Fraile, JC., Pérez-Turiel, J.
(2023) Virtual Reality, vol. 27, 3125–3132
A Versatile Embedded Platform for Implementation of Biocooperative Control in Upper-Limb Neuromotor Rehabilitation Scenarios
Cisnal, A., Antolínez, D., Turiel, J., Fraile, JC., De la Fuente, E.
(2023) IEEE Access, vol. 11, 35726-35736
Interaction with a hand rehabilitation exoskeleton in emg-driven bilateral therapy: Influence of visual biofeedback on the users’ performance
Cisnal, A., Gordaliza, P., Pérez Turiel, J., Fraile, JC.
(2023) Sensors 23 (4), 2048
Force-based control strategy for a collaborative robotic camera holder in laparoscopic surgery using pivoting motion
Fontúrbel, C., Cisnal, A., Fraile-Marinero, JC., Pérez-Turiel, J.
(2023) Frontiers in Robotics and AI, vol. 10, 1145265.
Hand rehabilitation based on the RobHand exoskeleton in stroke patients: A case series study
Barria, P., Riquelme, M., Reppich, H., Cisnal, A., Fraile, JC., Pérez-Turiel, J., Sierra, D., Aguilar, R., Andrade, A., Nuñez-Espinosa, C.
(2023) Frontiers in Robotics and AI, vol. 10, 1146018.
Assessment of the Patient’s Emotional Response with the RobHand Rehabilitation Platform: A Case Series Study
Cisnal. A., Moreno-SanJuan, V., Fraile, JC., Turiel, J., De-la-Fuente, E., Sánchez-Brizuela, G.
(2022), Journal of Clinical Medicine 11(15), 4442
Gauze Detection and Segmentation in Minimally Invasive Surgery Video Using Convolutional Neural Networks
Sanchez-Brizuela, G., Santos-Criado, F. J., Sanz-Gobernado, D., de la Fuente, E., Fraile, J. C., Pérez-Turiel, J., Cisnal, A.
(2022) Sensors, 22(14), 5180
RobHand: A Hand Exoskeleton With Real-Time EMG-Driven Embedded Control. Quantifying Hand Gesture Recognition Delays for Bilateral Rehabilitation
Cisnal, A., Pérez-Turiel, J., Fraile, J. C., Sierra, D., & de la Fuente, E.
(2021) IEEE Access, vol. 9, pp. 137809-137823
Design and characterization of a lightweight underactuated RACA hand exoskeleton for neurorehabilitation
Moreno-SanJuan, V., Cisnal, A., Fraile, J. C., Pérez-Turiel, J., & de la Fuente, E.
(2021) Robotics and Autonomous Systems, Volume 143, 103828.
Collaborative Robotic Assistant Platform for Endonasal Surgery: Preliminary In-Vitro Trials
Muñoz, V.F., Garcia-Morales, I., Fraile-Marinero, J.C., Perez-Turiel, J., Muñoz-Garcia, A., Bauzano, E., Rivas-Blanco, I., Sabater-Navarro, J.M., & de la Fuente, E.
(2021) Sensors, 21(7), 2320
Prediction of Cow Calving in Extensive Livestock Using a New Neck-Mounted Sensorized Wearable Device: A Pilot Study
Gonzalez-Sanchez, C., Sanchez-Brizuela, G., Cisnal, A., Fraile, J. C., Pérez-Turiel, J., de la Fuente, E.
(2021) Sensors, 21(23), 8060
Automatic Gauze Tracking in Laparoscopic Surgery using Image Texture Analysis
de la Fuente Lopez, E., Garcia, A. M., del Blanco, L. S., Fraile, J. C., & Turiel, J. P.
(2020) Computer Methods and Programs in Biomedicine, 105378.
Influence on the user’s emotional state of the graphic complexity level in virtual therapies based on a robot-assisted neuro-rehabilitation platform
Villar, B. F., Viñas, P. F., Turiel, J. P., Fraile, J. C., & Gordaliza, A.
(2020) Computer Methods and Programs in Biomedicine, 105359.
Application of a Novel Measurement Setup for Characterization of Graphene Microelectrodes and a Comparative Study of Variables Influencing Charge Injection Limits of Implantable Microelectrodes
Cisnal, A., R Ihmig, F., Fraile, J. C., Pérez-Turiel, J., & Muñoz-Martinez, V.
(2019) MDPI Sensors, 19(12), 2725.
Monitoring System for Laboratory Mice Transportation: A Novel Concept for the Measurement of Physiological and Environmental Parameters
González-Sánchez, C., Fraile, J. C., Pérez-Turiel, J., Damm, E., Schneider, J. G., Schmitt, D., & Ihmig, F. R.
(2019) MDPI Electronics, 8(1), 34.
A measurement setup and automated calculation method to determine the charge injection capacity of implantable microelectrodes
Cisnal, A., Fraile, J. C., Pérez-Turiel, J., Muñoz-Martinez, V., M¸ller, C., & R Ihmig, F.
(2018) MDPI Sensors, 18(12), 4152.
Dynamic gesture recognition using a smart glove in hand-assisted laparoscopic surgery
Santos, L., Carbonaro, N., Tognetti, A., González, J. L., De la Fuente, E., Fraile, J. C., & Pérez-Turiel, J.
(2018) Technologies, 6(1), 8.
Estado del Arte en Neurotecnologías para la Asistencia y la Rehabilitación en España: Tecnologías Fundamentales
Barrios, L. J., Hornero, R., Pérez-Turiel, J., Pons, J. L., Vidal, J., & Azorín, J. M.
(2017) Revista Iberoamericana de Automática e Informática Industrial RIAI, 14(4), 346-354.
Improving challenge/skill ratio in a multimodal interface by simultaneously adapting game difficulty and haptic assistance through psychophysiological and performance feedback
Rodriguez-Guerrero, C., Knaepen, K., Fraile-Marinero, J. C., Pérez-Turiel, J., González-de-Garibay, V., & Lefeber, D.
(2017) Frontiers in neuroscience, 11, 242.
Robotic platform for surgery assistance in single incision laparoscopic techniques
Sabater-Navarro, J. M., García, A., Company Rosique, A., Munoz Martínez, V., Rivas, I., García Morales, I., … & Santos del Blanco, L.
(2017) British Journal of Surgery (Vol. 104, pp. 24-24). 111 River St, Hoboken 07030-5774, NJ USA: Wiley-Blackwell
Smart cable-driven camera robotic assistant
Rivas-Blanco, I., López-Casado, C., Pérez-del-Pulgar, C. J., García-Vacas, F., Fraile, J. C., & Muñoz, V. F.
(2017) IEEE Transactions on Human-Machine Systems, 48(2), 183-196.
E2Rebot: a robotic platform for upper limb rehabilitation in patients with neuromotor disability
Fraile, J. C., Pérez-Turiel, J., Baeyens, E., Vinas, P., Alonso, R., Cuadrado, A., … & Nieto, F.
(2016) Advances in Mechanical Engineering, 8(8), 1687814016659050.
Capacitive sensing for non-invasive breathing and heart monitoring in non-restrained, non-sedated laboratory mice
González-Sánchez, C., Fraile, J. C., Pérez-Turiel, J., Damm, E., Schneider, J. G., Zimmermann, H., … & Ihmig, F. R.
(2016) MDPI Sensors, 16(7), 1052.
Neuromuscular electrical stimulation modelling by physiological and black-box approach
Pinuela-Martín, E., del-Ama, A. J., Fraile-Marinero, J. C., & Gil-Agudo, A.
(2016) Revista Iberoamericana de Automática e Informática Industrial RIAI, 13(3), 330-337.
Introduction to special section Cooperative human-robot interaction in the clinical setting
Casals, A., García-Aracil, N., & Pérez Turiel, J.
(2015) Revista Iberoamericana de Automática e Informática industrial (RIAI), 12(1), 79.
Using “human state aware” robots to enhance physical human-robot interaction in a cooperative scenario
Guerrero, C. R., Fraile, J. C., Turiel, J. P., & Muñoz, V.
(2013) Computer methods and programs in biomedicine, 112(2), 250-259.
A minimally invasive surgery robotic assistant for HALS-SILS techniques
Bauzano, E., García-Morales, I., del Saz-Orozco, P., Fraile, J. C., & Muñoz, V. F.
(2013) Computer methods and programs in biomedicine, 112(2), 272-283.
Robot Biocooperativo con Modulación Háptica para Tareas de Neurorehabilitación de los Miembros Superiores
Rodríguez-Guerrero, C., Fraile, J. C., Pérez-Turiel, J., & Farina, P. R.
(2011) Revista Iberoamericana de Automática e Informática Industrial RIAI, 8(2), 63-70.
M3Display: Sistema de realidad aumentada para la rehabilitación de la función motora del miembro superior
Cisnal, A., Alonso-Linaje, G., Veganzones, M., Pérez-Turiel, J., Fraile, JC.
(2023) XLI Congreso Anual de la Sociedad Española de Ingeniería Biomédica, 161-164
M3Rob: Plataforma robotizada para la rehabilitación de muñeca. Aspectos de diseño y arquitectura de control.
Cisnal, A., Alonso-Linaje, G., Granja, J., Veganzones , M., Pérez-Turiel, J., Fraile, J.C.
(2023) XLIV Jornadas de Automática, 29-34
An Overview of M3Rob, a Robotic Platform for Neuromotor and Cognitive Rehabilitation Using Augmented Reality
Cisnal, A., Martínez-Cagigal, V., Alonso-Linaje, G., Moreno-Calderón, S., Pérez-Turiel, J., Hornero, R., Fraile, JC.
(2022) XL Congreso Anual de la Sociedad Española de Ingeniería Biomédica. 23–25
Segmentación Semántica de Elementos Mecánicos en Entornos Aumentados de Rehabilitación
Sanchez-Brizuela, G., Sierra, D., de la Fuente, E., Fraile, J. C., Pérez-Turiel, J.
(2022) XII Jornadas Nacionales de Robótica, pp. 221-227, Universidad de Málaga
Detección por deep learning de puntos de riesgo en la trayectoria de un asistente robotizado en cirugías endonasales transesfenoidales
Fontúrbel, C., Ayuso-Lera, A., Fraile, J.C., Pérez Turiel, J.
(2022) XLIII Jornadas de Automática, 993-1000
Control de exoesqueleto de rehabilitación de mano con Leap Motion Controller
Sierra, D., Sánchez Brizuela, G., Pérez Turiel, J., Fraile, J.C.
(2022) XLIII Jornadas de Automática, 141-147
An Embedded Implementation of EMG-Driven Control for Assisted Bilateral Therapy
Cisnal, A., Moreno-SanJuan, V., Sierra, D., Pérez-Turiel, J., Fraile, J. C.
(2022) International Conference on NeuroRehabilitation, pp. 817-821, Springer, Cham
Solución integrada de control basado en EMG para la rehabilitación de terapias bilaterales en exoesqueleto de rehabilitación de mano Robhand
Cisnal, A., Sierra, D., Perez-Turiel, J., Fraile-Marinero, J.C
(2021) XLII Jornadas de Automática: libro de actas, 152-159, Castellón, 1 a 3 de septiembre
Integración de Bio-realimentación visual de EMG en un exoesqueleto de rehabilitación de mano (RobHand) utilizando entornos de realidad virtual
Cisnal, A., Sierra, D., Turiel, J. P., Fraile, J. C., de la Fuente, E.
(2021) XII Simposio CEA de Bioingeniería, 89–94
A Low Cost IoT Enabled Device for the Monitoring, Recording and Communication of Physiological Signals.
Fernandez-Villar, B., Cisnal, A., Vargas, M., Perez-Turiel, J., Fraile-Marinero, J.C
(2021) Proceedings of the 14th International Joint Conference on Biomedical Engineering Systems and Technologies (BIOSTEC 2021), vol. 1, pp. 135-143
Robot para rehabilitación de las funciones de la mano mediante terapias activas, en personas con discapacidad neuromotora
J.C. Fraile, J. Pérez-Turiel, J.A. López-Belloso, R. Alonso, A. Cisnal, V. Lobo, V. Moreno
(2018) Spanish Robotics Conference, paper 26.
Integration of a Surgical Robotic Co-worker in an Endoscopic Neurosurgical Assistance Platform
García, ¡. M., Rivas, I., Turiel, J. P., Muñoz, V., Marinero, J. C. F., de la Fuente, E., & Sabater, J. M.
(2019) Iberian Robotics conference (pp. 453-464). Springer, Cham.
Estrategia para el control háptico, basado en electromiografía, de un exoesqueleto de mano para neurorehabilitación
Cisnal, A., Moreno, V., Turiel, J. P., Alonso, R., Marinero, J. C. F., & Lobo, V.
(2019) 11 Simposio CEA de Bioingeniería.
Sistema de visión para el guiado de un asistente robótico en operaciones de cirugía endonasal
Loidi Yarza, A., Estop Remacha, R., Fraile, J. C., & Pérez Turiel, J.
(2019) XL Jornadas de Automática (pp. 94-100). Universidade da Coruña, Servizo de Publicacións.
EMG Based Bio-Cooperative Direct Force Control of an Exoskeleton for Hand Rehabilitation: A Preliminary Study
Cisnal, A., Alonso, R., Turiel, J. P., Fraile, J. C., Lobo, V., & Moreno, V.
(2018) International Conference on NeuroRehabilitation (pp. 390-394). Springer, Cham.
Sistema de visión para seguimiento automático de gasas quirúrgicas en cirugía laparoscópica
Muñoz García, A., Santos del Blanco, L., Fraile Marinero, J. C., & Pérez Turiel, J.
(2018) Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de Septiembre.
Robhand, un exoesqueleto de mano para la rehabilitación neuromotora aplicando terapias activas y pasivas
Cisnal, A., Lobo, V., Moreno, V., Fraile, J. C., Alonso, R., & Turiel, J. P.
(2018) Actas de las XXXIX Jornadas de Automática, Badajoz
Characterization of Hand Movements using a Sensing Glove in Hand Assisted Laparoscopic Surgery
Santos, L., Carbonaro, N., Tognetti, A., González, L., Fraile, J. C., Turiel, J. P., & De La Fuente, E.
(2017) Proceedings of the 2017 4th International Conference on Biomedical and Bioinformatics Engineering (pp. 63-67).
Parallel computing for real time gauze detection in laparoscopy images
de la Fuente, E., Trespaderne, F. M., Santos, L., Fraile, J. C., & Turiel, J. P.
(2017) 2nd IEEE International Conference on Bio-engineering for Smart Technologies (BioSMART) (pp. 1-5).
Collaborative Robotic System for Hand-Assisted Laparoscopic Surgery
López-Casado, C., Bauzano, E., Rivas-Blanco, I., Muñoz, V. F., & Fraile, J. C.
(2017) Iberian Robotics conference (pp. 548-553). Springer, Cham
First Results on the Joint Use of E2Rebot and Gradior to Improve Cognitive Abilities
Pérez-Turiel, J., Franco-Martin, M., Fraile, J. C., Parra, E., & Viñas, P.
(2017) Converging Clinical and Engineering Research on Neurorehabilitation II (pp. 1293-1298). Springer, Cham.
Psychophysiological Measurements in a Robotic Platform for Upper Limbs Rehabilitation: First Trials
Viñas, P. F., Hernández, M., Pérez-Turiel, J., Fraile, J. C., Cuadrado, A., Alonso, R., & Franco-Martín, M.
(2017) Converging Clinical and Engineering Research on Neurorehabilitation II (pp. 1205-1209). Springer, Cham.
Sistema de Visión Estereoscópico para el guiado de un robot quirúrgico en operaciones de cirugía laparoscópica HALS
Castedo Hernández, C., Estop Remacha, R., de La Fuente López, E. & Santos, L.
(2017) Actas de las XXXVIII Jornadas de Automática
Detección mediante un guante sensorizado de movimientos seleccionados en un sistema robotizado colaborativo para Hals
Santos, L., González, J. L., Fraile, J. C., & Pérez Turiel, J.
(2017) Actas de las XXXVIII Jornadas de Automática
Diseño mecánico de un asistente robótico camarógrafo con aprendizaje cognitivo
Blanco, I. R., Casado, C. L., del Pulgar Mancebo, C. J. P., Vacas, F. G., Martínez, V. F. M., Núñez, E. B., & Fraile, J. C.
(2017) Actas de las XXXVIII Jornadas de Automática (pp. 844-851).
Control of the E2REBOT Platform for Upper Limb Rehabilitation in Patients with Neuromotor Impairment
Fraile, J. C., Pérez-Turiel, J., Viñas, P., Alonso, R., Cuadrado, A., Ayuso, L., … & Franco-Martín, M.
(2015) Robot 2015: Second Iberian Robotics Conference (pp. 303-314). Springer, Cham.
Transnational lifelong education course in robotic systems
Leitao, P., Fraile, J. C., Moreno, V., Harrison, R., Altun, H., Colombo, A. W., … & Curto, B.
(2015) IECON-41st Annual Conference of the IEEE Industrial Electronics Society (pp. 004181-004186).
E2REBOT plataforma robotizada para rehabilitación de miembros superiores en personas con discapacidad neuromotora y/o cognitiva
Fraile, J. C., Pérez-Turiel, J., Viñas, P., Alonso, R., Cuadrado, A., Franco-Martin, M., … & Nieto, F.
(2015) IBERDISCAP, VIII Congreso Iberoamericano de Tecnologías de Apoyo a la Discapacidad
Procesamiento paralelo de imágenes de video para la detección de sangrado y vendas en operaciones de cirugía laparoscópica
Derwael, D., García, R., Miguel Trespaderne, F., Fraile, J. C., Pérez Turiel, J., & Santos, L.
(2015) Actas de las XXXVI Jornadas de Automática.
Guante de datos sensorizado para uso en cirugía laparoscópica asistida por la mano (HALS)
Santos, L., González, J. L., Turiel, J. P., Fraile, J. C., & de la Fuente, E.
(2015) Actas de las XXXVI Jornadas de Automática, 2-4.
Preliminary results from the use of the SOFTROBOT platform in stroke patients
Rodriguez-Guerrero, C., Ana, B. M., Navarrete, P. O., Fraile, J. C., & Farina, P. R.
(2013) Converging Clinical and Engineering Research on Neurorehabilitation (pp. 215-226). Springer, Berlin, Heidelberg.
Evolución de la plataforma robotizada de neuro-rehabilitación physiobot
Fraile Marinero, J. C., Pérez Turiel, J., Rodríguez Guerrero, C., & Oliva, P.
(2013) VII Congreso Iberoamericano de Tecnologías de Apoyo a la Discapacidad (Iberdiscap 2013), Santo Domingo (República Dominicana) (pp. 287-292)
Using psychophysiological feedback to enhance physical human robot interaction in a cooperative scenario
Guerrero, C. R., Marinero, J. F., Turiel, J. P., & Farina, P. R.
(2012) 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) (pp. 1176-1181)
Bio cooperative robotic platform for motor function recovery of the upper limb after stroke
Guerrero, C. R., Marinero, J. F., Turiel, J. P., & Farina, P. R.
(2010) Annual International Conference of the IEEE Engineering in Medicine and Biology (pp. 4472-4475)