Publications

@article{Escarabajal_2025,

title = {Muscle-Targeted Robotic Assistive Control Using Musculoskeletal Model of the Lower Limb},

author = {Rafael J. Escarabajal and Pau Zamora-Ortiz and José L. Pulloquinga and Marina Vallés and Ángel Valera},

doi = {10.1109/TSMC.2024.3506495},

issn = {2168-2232},

year  = {2025},

date = {2025-02-01},

journal = {IEEE Transactions on Systems, Man, and Cybernetics: Systems},

volume = {55},

number = {2},

pages = {1537–1548},

publisher = {Institute of Electrical and Electronics Engineers (IEEE)},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Moll_Casanova_2025,

title = {Effect of a virtual walking and exercise-based intervention on muscle strength and activation in people with incomplete spinal cord injury},

author = {Sara Mollà-Casanova and Elena Muñoz-Gómez and Noemí Moreno-Segura and Marta Inglés and Marta Aguilar-Rodríguez and Núria Sempere-Rubio and Pilar Serra-Añó},

doi = {10.1038/s41598-025-86845-8},

issn = {2045-2322},

year  = {2025},

date = {2025-01-01},

journal = {Scientific Reports},

volume = {15},

number = {1},

publisher = {Springer Science and Business Media LLC},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Moll_Casanova_2024,

title = {Effectiveness of virtual-walking intervention combined with exercise on improving pain and function in incomplete spinal cord injury: a feasibility study},

author = {Sara Mollà-Casanova and Elena Muñoz-Gómez and Marta Aguilar-Rodríguez and Marta Inglés and Núria Sempere-Rubio and Noemí Moreno-Segura and Pilar Serra-Añó},

doi = {10.1038/s41394-024-00675-w},

issn = {2058-6124},

year  = {2024},

date = {2024-08-01},

journal = {Spinal Cord Series and Cases},

volume = {10},

number = {1},

pages = {115–123},

publisher = {Springer Science and Business Media LLC},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Moll_Casanova_2024b,

title = {Effectiveness of virtual-walking intervention combined with exercise on improving pain and function in incomplete spinal cord injury: a feasibility study},

author = {Sara Mollà-Casanova and Elena Muñoz-Gómez and Marta Aguilar-Rodríguez and Marta Inglés and Núria Sempere-Rubio and Noemí Moreno-Segura and Pilar Serra-Añó},

doi = {10.1038/s41394-024-00675-w},

issn = {2058-6124},

year  = {2024},

date = {2024-08-01},

journal = {Spinal Cord Series and Cases},

volume = {10},

number = {1},

publisher = {Springer Science and Business Media LLC},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Pulloquinga2024,

title = {Experimental Analysis of Pose Estimation Based on ArUco Markers},

author = {José L. Pulloquinga and Davide Corrata and Vicente Mata and Ángel Valera and Marina Vallés},

doi = {https://doi.org/10.1007/978-3-031-61582-5_12},

issn = {2195-4364},

year  = {2024},

date = {2024-01-01},

booktitle = {Innovations in Industrial Engineering III},

pages = {138–149},

publisher = {Springer Nature Switzerland},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Arag_n_Basanta_2024,

title = {Relationship between neck kinematics and neck dissability index. An approach based on functional regression},

author = {Elisa Aragón-Basanta and William Venegas and Guillermo Ayala and Alvaro Page and Pilar Serra-Añó},

doi = {10.1038/s41598-023-50562-x},

issn = {2045-2322},

year  = {2024},

date = {2024-01-01},

journal = {Scientific Reports},

volume = {14},

number = {1},

publisher = {Springer Science and Business Media LLC},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Mu_oz_G_mez_2023b,

title = {Effects of mirror therapy on pain, sensitivity and functionality in patients with unilateral carpal tunnel syndrome. Randomised control trial},

author = {Elena Muñoz-Gómez and Marta Aguilar-Rodríguez and Marta Inglés and Sara Mollà-Casanova and Núria Sempere-Rubio and Pilar Serra-Añó},

doi = {10.1080/09638288.2023.2280705},

issn = {1464-5165},

year  = {2023},

date = {2023-11-01},

journal = {Disability and Rehabilitation},

volume = {46},

number = {20},

pages = {4655–4663},

publisher = {Informa UK Limited},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Vargas_Ria_o_2023,

title = {Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot},

author = {Julio Vargas-Riaño and Óscar Agudelo-Varela and Ángel Valera},

doi = {doi: 10.1002/pmrj.12964.},

issn = {2218-6581},

year  = {2023},

date = {2023-11-01},

journal = {Robotics},

number = {6},

pages = {154},

publisher = {MDPI AG},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Mu_oz_G_mez_2023,

title = {Effects of mirror therapy on pain, sensitivity and functionality in patients with unilateral carpal tunnel syndrome. Randomised control trial},

author = {Elena Muñoz-Gómez and Marta Aguilar-Rodríguez and Marta Inglés and Sara Mollà-Casanova and Núria Sempere-Rubio and Pilar Serra-Añó},

doi = {10.1080/09638288.2023.2280705},

issn = {1464-5165},

year  = {2023},

date = {2023-11-01},

journal = {Disability and Rehabilitation},

volume = {46},

number = {20},

pages = {4655–4663},

publisher = {Informa UK Limited},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Pulloquinga2023,

title = {Admittance controller complemented with real-time singularity avoidance for rehabilitation parallel robots},

author = {José L. Pulloquinga and Rafael J. Escarabajal and Marina Vallés and Miguel D'ıaz-Rodr'ıguez and Vicente Mata and Ángel Valera},

doi = {https://doi.org/10.1016/j.mechatronics.2023.103017},

year  = {2023},

date = {2023-10-01},

journal = {Mechatronics},

volume = {94},

pages = {103017},

publisher = {Elsevier BV},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Moll_Casanova_2023,

title = {Effect of virtual running with exercise on functionality in pre-frail and frail elderly people: randomized clinical trial},

author = {Sara Mollà-Casanova and Elena Muñoz-Gómez and Núria Sempere-Rubio and Marta Inglés and Marta Aguilar-Rodr'ıguez and Álvaro Page and Juan López-Pascual and Pilar Serra-Añó},

doi = {10.1007/s40520-023-02414-x},

year  = {2023},

date = {2023-05-01},

journal = {Aging Clinical and Experimental Research},

volume = {35},

number = {7},

pages = {1459–1467},

publisher = {Springer Science and Business Media LLC},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Page_2023,

title = {Effect of non-specific neck pain on the path of the instantaneous axis of rotation of the neck during its flexion-extension movement},

author = {Álvaro Page and Marta Inglés and William Venegas and Sara Mollà-Casanova and Pilar Serra-Añó},

doi = {10.1016/j.msksp.2023.102737},

year  = {2023},

date = {2023-04-01},

journal = {Musculoskeletal Science and Practice},

volume = {64},

pages = {102737},

publisher = {Elsevier BV},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{PULLOQUINGA2023105282,

title = {A Type II singularity avoidance algorithm for parallel manipulators using output twist screws},

author = {José L. Pulloquinga and Rafael J. Escarabajal and Ángel Valera and Marina Vallés and Vicente Mata},

url = {https://www.sciencedirect.com/science/article/pii/S0094114X23000551},

doi = {https://doi.org/10.1016/j.mechmachtheory.2023.105282},

issn = {0094-114X},

year  = {2023},

date = {2023-01-01},

journal = {Mechanism and Machine Theory},

volume = {183},

pages = {105282},

abstract = {Parallel robots (PRs) are closed-chain manipulators with diverse applications due to their accuracy and high payload. However, there are configurations within the workspace named Type II singularities where the PRs lose control of the end-effector movements. Type II singularities are a problem for applications where complete control of the end-effector is essential. Trajectory planning produces accurate movements of a PR by avoiding Type II singularities. Generally, singularity avoidance is achieved by optimising a geometrical path with a velocity profile considering singular configurations as obstacles. This research presents an algorithm that avoids Type II singularities by modifying the trajectory of a subset of the actuators. The subset of actuators represents the limbs responsible for a Type II singularity, and they are identified by the angle between two Output Twist Screws. The proposed avoidance algorithm does not require optimisation procedures, which reduces the computational cost for offline trajectory planning and makes it suitable for online trajectory planning. The avoidance algorithm is implemented in offline trajectory planning for a pick and place planar PR and a spatial knee rehabilitation PR.},

keywords = {Output twist screws, Parallel robots, Singularity avoidance, Trajectory planning},

pubstate = {published},

tppubtype = {article}

}

@article{10037759,

title = {Combined Admittance Control With Type II Singularity Evasion for Parallel Robots Using Dynamic Movement Primitives},

author = {Rafael J. Escarabajal and José L. Pulloquinga and Ángel Valera and Vicente Mata and Marina Vallés and Fernando J. Castillo-García},

doi = {10.1109/TRO.2023.3238136},

year  = {2023},

date = {2023-01-01},

journal = {IEEE Transactions on Robotics},

pages = {1-16},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Escarabajal2023,

title = {Model-Based Control of a 4-DOF Rehabilitation Parallel Robot with Online Identification of the Gravitational Term},

author = {Rafael J. Escarabajal and José L. Pulloquinga and Vicente Mata and Ángel Valera and Miguel Díaz-Rodríguez},

url = {https://www.mdpi.com/1424-8220/23/5/2790},

doi = {10.3390/s23052790},

issn = {1424-8220},

year  = {2023},

date = {2023-01-01},

journal = {Sensors},

volume = {23},

number = {5},

abstract = {Parallel robots are being increasingly used as a fundamental component of lower-limb rehabilitation systems. During rehabilitation therapies, the parallel robot must interact with the patient, which raises several challenges to the control system: (1) The weight supported by the robot can vary from patient to patient, and even for the same patient, making standard model-based controllers unsuitable for those tasks since they rely on constant dynamic models and parameters. (2) The identification techniques usually consider the estimation of all dynamic parameters, bringing about challenges concerning robustness and complexity. This paper proposes the design and experimental validation of a model-based controller comprising a proportional-derivative controller with gravity compensation applied to a 4-DOF parallel robot for knee rehabilitation, where the gravitational forces are expressed in terms of relevant dynamic parameters. The identification of such parameters is possible by means of least squares methods. The proposed controller has been experimentally validated, holding the error stable following significant payload changes in terms of the weight of the patient’s leg. This novel controller allows us to perform both identification and control simultaneously and is easy to tune. Moreover, its parameters have an intuitive interpretation, contrary to a conventional adaptive controller. The performance of a conventional adaptive controller and the proposed one are compared experimentally.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Serra_A__2023,

title = {Immediate Effects of a Single Session of Cervical Spine Manipulation on Cervical Movement Patterns in People With Nonspecific Neck Pain: A Randomized Controlled Trial},

author = {Pilar Serra-Añó and William Venegas and Alvaro Page and Marta Inglés Torre and Marta Aguilar-Rodr'ıguez and Gemma Esp'ı-López},

doi = {10.1016/j.jmpt.2023.05.006},

year  = {2023},

date = {2023-01-01},

journal = {Journal of Manipulative and Physiological Therapeutics},

volume = {46},

number = {1},

pages = {17–26},

publisher = {Elsevier BV},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{app12052654,

title = {A Computationally Efficient Musculoskeletal Model of the Lower Limb for the Control of Rehabilitation Robots: Assumptions and Validation},

author = {Nidal Farhat and Pau Zamora and David Reichert and Vicente Mata and Alvaro Page and Angel Valera},

url = {https://www.mdpi.com/2076-3417/12/5/2654},

doi = {10.3390/app12052654},

issn = {2076-3417},

year  = {2022},

date = {2022-01-01},

journal = {Applied Sciences},

volume = {12},

number = {5},

abstract = {We present and validate a computationally efficient lower limb musculoskeletal model for the control of a rehabilitation robot. It is a parametric model that allows the customization of joint kinematics, and it is able to operate in real time. Methods: Since the rehabilitation exercises corresponds to low-speed movements, a quasi-static model can be assumed, and then muscle force coefficients are position dependent. This enables their calculation in an offline stage. In addition, the concept of a single functional degree of freedom is used to minimize drastically the workspace of the stored coefficients. Finally, we have developed a force calculation process based on Lagrange multipliers that provides a closed-form solution; in this way, the problem of dynamic indeterminacy is solved without the need to use an iterative process. Results: The model has been validated by comparing muscle forces estimated by the model with the corresponding electromyography (EMG) values using squat exercise, in which the Spearman’s correlation coefficient is higher than 0.93. Its computational time is lower than 2.5 ms in a conventional computer using MATLAB. Conclusions: This procedure presents a good agreement with the experimental values of the forces, and it can be integrated into real time control systems.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}