CREATING an accesible and Affordable exoskeleton
3d-printed, do it yourself approach
3d-printed, do it yourself approach
3d-printed, do it yourself approach
We have designed the POWERUP exoskeleton with 3d-printed material. All technical documents are available online ("Downloads" section)
Wearable sensors
3d-printed, do it yourself approach
3d-printed, do it yourself approach
We integrated sensors into Powerup exoskeleton for motion capture and muscle activation analysis. We are estimating motor control using EMG and biomechanics
Gamification
3d-printed, do it yourself approach
Gamification
Powerup platform motivates children with CP to interact with videogames using arm movements. We are using adapted RV to propose new therapies and measure the progress.
PuBLICATIONS
Robotic rehabilitation
E. Urendes, C. Sánchez, S. Lerma-Lara, A. Rojo, V. Costa and R. Raya, "Design, Development, and Functional Validation of a 3D-Printed Passive Upper Limb Exoskeleton," in IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 32, pp. 2503-2512, 2024, doi: 10.1109/TNSRE.2024.3424537.
Sanchez C, Blanco L, Del Río C, Urendes E, Costa V, Raya R. A 3D-printed passive exoskeleton for upper limb assistance in children with motor disorders: proof of concept through an electromyography-based assessment. PeerJ. 2023 Mar 29;11:e15095. doi: 10.7717/peerj.15095. PMID: 37013145; PMCID: PMC10066689. https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10066689/
V. Costa et al., "Development and Clinical Validation of a Rehabilitation Platform for Hip Fracture in Elderly Population," in IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 30, pp. 1340-1349, 2022, doi: 10.1109/TNSRE.2022.3175688.
https://ieeexplore.ieee.org/abstract/document/9775981
V. Costa; O. Ramírez; J.S. Lora-Millan; E. Urendes; E. Rocon; L. Perea; R. Raya, "Design of a robotic platform for hip fracture rehabilitation in elderly people," 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2020, pp. 599-604, doi: 10.1109/BioRob49111.2020.9224320.
Urendes, E.; Asín-Prieto, G.; Ceres, R.; García-Carmona, R.; Raya, R.; L. Pons, J. HYBRID: Ambulatory Robotic Gait Trainer with Movement Induction and Partial Weight Support. Sensors 2019, 19, 4773. https://doi.org/10.3390/s19214773
Wearable sensors
Ó. R. López et al., "Neck Kinematics in Patients With Chronic Mechanical Neck Pain: An Observational Study to Explore the Integration of Multiple Influencing Factors Through a Bayesian Model-Based Approach," in IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 32, pp. 2579-2588, 2024, doi: 10.1109/TNSRE.2024.3422614
Pérez-Fernández T, Armijo-Olivo S, Liébana S, de la Torre Ortíz PJ, Fernández-Carnero J, Raya R, Martín-Pintado-Zugasti A. A novel use of inertial sensors to measure the craniocervical flexion range of motion associated to the craniocervical flexion test: an observational study. J Neuroeng Rehabil. 2020 Nov 19;17(1):152. doi: 10.1186/s12984-020-00784-1. PMID: 33213452; PMCID: PMC7678052. https://pubmed.ncbi.nlm.nih.gov/33213452/
Validity and reliability of inertial sensors for elbow and wrist range of motion assessment V Costa, Ó Ramírez, A Otero, D Muñoz-García, S Uribarri, R Raya PeerJ 8, e9687 https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7427560/
Teaching Embedded Systems in Biomedical Engineering degrees: A case study G Caffarena, R Raya, E Urendes, A Otero, D Mennard 2021 IEEE Mysore Sub Section International Conference (MysuruCon), 1-7
Multiple physiological signals fusion techniques for improving heartbeat detection: A review J Tejedor, CA García, DG Márquez, R Raya, A Otero Sensors 19 (21), 4708 https://pubmed.ncbi.nlm.nih.gov/31671921/
Motor control
Cabezaolias, C., Raya, R., Sanchez, C. et al. Effect of focal muscle vibration on sEMG activity during repeated elbow movements in healthy adults. J NeuroEngineering Rehabil (2025). https://doi.org/10.1186/s12984-025-01816-4
Martín-Sierra P, Sanchez C, Urendes E, Raya R. 2025. Assessment of upper limb motor control: establishing normative benchmarks for clinical applications. PeerJ 13:e19859 https://doi.org/10.7717/peerj.19859
Sanchez C, Urendes E, Aceves A, Martínez-Olagüe M, Raya R. 2025. Fitts’ law-based identification of motor development stages for the upper limb: proof of concept in three age groups. PeerJ 13:e19433 https://doi.org/10.7717/peerj.19433
Sierra, P.M., Sánchez López de Pablo, C., Urendes Jiménez, E., Raya, R. (2024). Assessing Motor Control States in Children Through Flexo-Extension Movement Morphology. In: Pons, J.L., Tornero, J., Akay, M. (eds) Converging Clinical and Engineering Research on Neurorehabilitation V. ICNR 2024. Biosystems & Biorobotics, vol 32. Springer, Cham. https://doi.org/10.1007/978-3-031-77584-0_64
Sanchez, C.; Lerma-Lara, S.; Garcia-Carmona, R.; Urendes, E.; Laccourreye, P.; Raya, R. Studying the Research–Practice Gap in Physical Therapies for Cerebral Palsy: Preliminary Outcomes Based on a Survey of Spanish Clinicians. Int. J. Environ. Res. Public Health 2022, 19, 14535. https://doi.org/10.3390/ijerph192114535 https://www.mdpi.com/1660-4601/19/21/14535
Evaluation of Child–Computer Interaction Using Fitts’ Law: A Comparison between a Standard Computer Mouse and a Head Mouse C Sanchez, V Costa, R Garcia-Carmona, E Urendes, J Tejedor, R Raya Sensors 21 (11), 3826 https://www.mdpi.com/1424-8220/21/11/3826
Gamification
Rojo, A., Olmo-Fajardo, T., Raya, R., Moreno, J.C. (2024). Virtual Reality Cycling Platform for Lower Limb Rehabilitation. In: Pons, J.L., Tornero, J., Akay, M. (eds) Converging Clinical and Engineering Research on Neurorehabilitation V. ICNR 2024. Biosystems & Biorobotics, vol 32. Springer, Cham. https://doi.org/10.1007/978-3-031-77584-0_142
Rojo A, Castrillo Calvillo A, López C, Raya R, Moreno JC Effects of a Virtual Reality Cycling Platform on Lower Limb Rehabilitation in Patients With Ataxia and Hemiparesis: Pilot Randomized Controlled Trial JMIR Serious Games 2024;12:e39286 doi: 10.2196/39286
Costa, V., Rojo A., et al. (2023) Evaluating the Usability and Safety of Virtual Reality Application Combined with the SWalker for Functional Gait Rehabilitation. Games for Health Journal, https://doi.org/10.1089/g4h.2023.0172
Rojo, A., Raya, R. & Moreno, J.C. Virtual reality application for real-time pedalling cadence estimation based on hip ROM tracking with inertial sensors: a pilot study. Virtual Reality 27, 3–17 (2023). https://doi.org/10.1007/s10055-022-00668-w https://link.springer.com/article/10.1007/s10055-022-00668-w
A. Rojo, S. Del Riego, C. Sánchez, E. Urendes, R. García-Carmona, S. Lerma-Lara, R. Raya. POWERUP: A 3D-printed exoskeleton and serious games for the rehabilitation of children with motor disabilities. Conference Association for the Advancement of Assistive Technology in Europe (AAATE). June, 2022
A. Rojo, J. Cortina, C. Sánchez, E. Urendes, R. García-Carmona, R. Raya. Accuracy Study of the Oculus Touch v2 vs Inertial Sensor for a Single-axis Rotation Simulating the Elbow's Range of Motion. Virtual Reality. 2022. https://link.springer.com/article/10.1007/s10055-022-00660-4
Beltran-Alacreu H, Navarro-Fernández G, Godia-Lledó D, Graell-Pasarón L, Ramos-González Á, Raya R, Martin-Pintado Zugasti A, Fernandez-Carnero J. A Serious Game for Performing Task-Oriented Cervical Exercises Among Older Adult Patients With Chronic Neck Pain: Development, Suitability, and Crossover Pilot Study. JMIR Serious Games. 2022 Feb 1;10(1):e31404. doi: 10.2196/31404. PMID: 35103608; PMCID: PMC8848226.https://pubmed.ncbi.nlm.nih.gov/35103608/
Rojo, A., Raya, R., Moreno, J.C. (2022). Real-Time Cycling Cadence Estimation Using an Inertial Sensor for Gamified Pedaling Therapy. In: Torricelli, D., Akay, M., Pons, J.L. (eds) Converging Clinical and Engineering Research on Neurorehabilitation IV. ICNR 2020. Biosystems & Biorobotics, vol 28. Springer, Cham. https://doi.org/10.1007/978-3-030-70316-5_107