cartif projects


Strengthen the autonomy of people with some type o f neuro-motor disability in the upper limbs.


E2REBOT is based on the integrated application of a wide spectrum of technologies for movement control and force interaction: mechatronics, virtual reality, haptic control, interfaces and bio-feedback. This project seeks to strengthen the autonomy of people with some type of neuro-motor disability, in the upper limbs.

This project monitors and integrates the physiological signals of the patient in the control loop of the neuro-rehabilitation robot. The physiotherapist could adjust the difficulty of the rehabilitation therapies that the patient should perform based on their experience, and the data “collected and analyzed” by the application that controls the neuro-rehabilitation robot.


  • Development of a new control system for robotic devices.
  • Biocooperative control (“biofeedback”).
  • Development of information management systems for physical and physiological variables.
  • Development, construction and implementation of a prototype robotic device for rehabilitation of upper limbs.


  • Borja F. Villar et al., “Influence on the user´s emotional state of the graphic complexity level in virtual therapies based on a robot-assisted neuro-rehabilitation platform”, Computer Methods and Programs in Biomedicine, Vol. 190, July 2020,

Expected Results

  • A new robot for rehabilitation of upper limb.
  • New control system that integrates haptic technology and bio-feedback.
  • New metrics for the follow-up of patients by physiotherapists.


Cooperación I+D


Duration: April 2013 – June 2015

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Pablo Francisco Viñas

Division of Industrial and Digital Systems


Health Projects:



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