sample of publications

• articles 

  • Neural Policy Style Transfer.  Cognitive Systems Research (Cognitive Systems Research).  72:23-32. 2022
  • A New Approach of Soft Joint Based on a Cable-Driven Parallel Mechanism for robotic Applications.  Mathematics.  9:1-25. 2021
  • Modular and self-scalable origami robot: A first approach.  Mathematics.  9:1-23. 2021
  • Characterization and study of the primitive dynamic movements required to bi-manipulate a box.  Electronics - MDPI.  10:1-18. 2021
  • Modeling, gait sequence design, and control architecture of BADGER underground robot.  IEEE Robotics and Automation Letters.  6. 2021
  • Service robots in catering applications: A review and future challenges.  Electronics - MDPI.  10:47-1-47-22. 2021
  • Iso-m based adaptive fractional order control with application to a soft robotic neck.  IEEE Access.  8:198964-198976. 2020
  • A graphical tuning method for fractional order controllers based on iso-slope phase curves.  ISA TRANSACTIONS.  105:296-307. 2020
  • Robot-Aided Systems for Improving the Assessment of Upper Limb Spasticity: A Systematic Review.  Sensors.  20:5251. 2020
  • Design of an Active Vision System for High-Level Isolation Units through Q-Learning.  Applied Sciences (MDPI).  10:5927. 2020
  • Effects of virtual reality associated with serious games for upper limb rehabilitation inpatients with multiple sclerosis: randomized controlled trial.  Journal of NeuroEngineering and Rehabilitation (Journal of NeuroEngineering and Rehabilitation).  17:1-10. 2020
  • Validity of a Fully-Immersive VR-Based Version of the Box and Blocks Test for Upper Limb Function Assessment in Parkinson's Disease.  Sensors.  20:1-17. 2020
  • UAVs formation approach using fast marching square methods.  IEEE AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE.  35:36-46. 2020
  • The Impact of a Novel Immersive Virtual Reality Technology Associated with Serious Games in Parkinson's Disease Patients on Upper Limb Rehabilitation: A Mixed Methods Intervention Study.  Sensors.  20:1-20. 2020
  • Test bench for evaluation of a soft robotic link.  Frontiers in Robotics and AI.  1-15. 2020
  • Coverage mission for UAVs using differential evolution and fast marching square methods.  IEEE AEROSPACE AND ELECTRONIC SYSTEMS MAGAZINE.  35:18-29. 2020
  • Joint position control based on Fractional order PD and PI controllers for the arm of the humanoid robot TEO.  International Journal of Humanoid Robotics.  16. 2020
  • Enabling garment-agnostic laundry tasks for a Robot Household Companion.  ROBOTICS AND AUTONOMOUS SYSTEMS.  123:103330. 2020
  • 3D exploration and navigation with optimal-RRT planners for ground robots in indoor incidents.  Sensors.  20:1-18. 2019
  • Generation and processing of simulated underwater images for infrastructure visual inspection with UUVs.  Sensors.  19:1-18. 2019
  • Development of applications for humanoid robots using multiple platforms, tools, and cloud data sharing.  International Journal of Humanoid Robotics.  16:1-13. 2019
  • Leap motion controlled video game-based therapy for upper limb rehabilitation in patients with Parkinson's disease: a feasibility study.  Journal of NeuroEngineering and Rehabilitation (Journal of NeuroEngineering and Rehabilitation).  16:133-1-133-10. 2019
  • Robotic autonomous systems for earthmoving in military applications.  AUTOMATION IN CONSTRUCTION.  107:1-19. 2019
  • A study on machine vision techniques for the inspection of health personnels' protective suits for the treatment of patients in extreme isolation.  Electronics - MDPI.  8:743-1-743-14. 2019
  • Robotics in health care: Perspectives of robot-aided interventions in clinical practice for rehabilitation of upper limbs.  Applied Sciences (MDPI).  9:2586. 2019
  • 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, Madrid, Spain.  IEEE ROBOTICS & AUTOMATION MAGAZINE.  26:111-113. 2019
  • Review of automated systems for upper limbs functional assessment in neurorehabilitation.  IEEE Access.  7:32352-32367. 2019
  • Sign Language Representation by TEO Humanoid Robot: End-User Interest, Comprehension and Satisfaction.  Electronics - MDPI.  8:1-22. 2019
  • Real evaluations tractability using continuous goal-directed actions in smart city applications.  Sensors.  18. 2018
  • Low-energy structures embedded with smart dampers.  ENERGY AND BUILDINGS.  177:375-384. 2018
  • Automatic outcome in manual dexterity assessment using colour segmentation and nearest neighbour classifier.  Sensors.  18. 2018
  • Effectiveness of Serious Games for Leap Motion on the functionality of the upper limb in Parkinson's disease: A feasibility study.  Computational Intelligence and Neuroscience.  2018:1-17. 2018
  • Towards an affordable assistive device for personal autonomy recovery in tasks required of manual dexterity.  IEEE Access.  6:26338-26349. 2018
  • Correction of visual perception based on neuro-fuzzy learning for the humanoid robot TEO.  Sensors.  18. 2018
  • Experimental robot model adjustments based on force-torque sensor information.  Sensors.  18. 2018
  • Autonomous robotic system for tunnel structural inspection and assessment.  International Journal of Intelligent Robotics and Applications (International Journal of Intelligent Robotics and Applications).  2:43-66. 2018
  • Tunnel structural inspection and assessment using an autonomous robotic system.  AUTOMATION IN CONSTRUCTION.  87:117-126. 2018
  • Whole-Body Balance Control of a Humanoid Robot in Real Time Based on ZMP Stability Regions Approach.  CYBERNETICS AND SYSTEMS.  49:521-537. 2018
  • A review of robotics in neurorehabilitation: towards an automated process for upper limb..  Journal of Healthcare Engineering.  2018:1-19. 2018
  • Technical Note: Mobile accelerator guidance using an optical tracker during docking in IOERT procedures.  MEDICAL PHYSICS.  44:5061-5069. 2017
  • UAVs mission planning with flight level constraint using Fast Marching Square Method.  ROBOTICS AND AUTONOMOUS SYSTEMS.  94:162-171. 2017
  • UAVs mission planning with imposition of flight level through fast marching square.  CYBERNETICS AND SYSTEMS.  48:102-113. 2017
  • A use case of an adaptive cognitive architecture for the operation of humanoid robots in real environments.  International Journal of Advanced Robotic Systems (International Journal of Advanced Robotic Systems).  14:1-15. 2017
  • Task oriented control of a humanoid robot through the implementation of a cognitive architecture.  JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS.  85:3-25. 2017
  • Adaptive Aid on Targeted Manipulator Movements in Tele-Assistance.  Paladyn, Journal of Behavioral Robotics.  7:15-30. 2016
  • Decoupled control of a variable stiffness actuator for assistive robots.  Revista Iberoamericana de Automatica e Informatica Industrial.  13:80-91. 2016
  • Developing educational printable robots to motivate university students using open source technologies.  JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS.  81:25-39. 2016
  • Fractional Control of a Humanoid Robot Reduced Model with Model Disturbances.  CYBERNETICS AND SYSTEMS.  47:445-459. 2016
  • DE-based tuningof PIlambdaDmu controllers.  ISA TRANSACTIONS.  59:398-407. 2015
  • Past, present and future of robotic tunnel inspection.  AUTOMATION IN CONSTRUCTION.  59:99-112. 2015
  • Distributed and adaptive shared control systems: methodology for the replication of experiments.  IEEE ROBOTICS & AUTOMATION MAGAZINE.  22:137-146. 2015
  • Cryptobotics: why robots need cyber safety.  Frontiers in Robotics and AI.  2 (23):1-4. 2015
  • Adaptation of robot skills models to new task contraints.  International Journal of Humanoid Robotics.  12. 2015
  • Humans and humanoids face to face. Guest editorial: special issue on 2014 IEEE-RAS International Conference on Humanoid Robots.  International Journal of Humanoid Robotics.  12 (1502001):1-4. 2015
  • Robot devastation: using DIY low-cost platforms for multiplayer interaction in an augmented reality game.  EAI Endorsed Transactions on Collaborative Computing.  15. 2015
  • 2014 IEEE-RAS International Conference on Humanoid Robots: [society news].  IEEE ROBOTICS & AUTOMATION MAGAZINE.  22:102-103. 2015
  • Behavior sequencing based on demonstrations: a case of a humanoid opening a door while walking.  ADVANCED ROBOTICS.  29:315-329. 2015
  • Humanoid robot imitation through continuous goal-directed actions: an evolutionary approach.  ADVANCED ROBOTICS.  29:303-314. 2015
  • Open solution for humanoid attitude estimation through sensory integration and extended kalman filtering.  Automatika.  56:9-20. 2015
  • A Study for the Application of Automated Planning to Mobile Assistive Robots.  CYBERNETICS AND SYSTEMS.  45:512-529. 2014
  • Full-Body Postural Control of a Humanoid Robot with Both Imitation Learning and Skill Innovation.  International Journal of Humanoid Robotics.  11. 2014
  • Modeling and simulation of the Humanoid Robot HOAP-3 in the OpenHRP3 Platform.  CYBERNETICS AND SYSTEMS.  44:663-680. 2013
  • Facial emotion recognition and adaptative postural reaction by a humanoid based on neural evolution.  International journal of advanced computer science.  10:481-493. 2013
  • Flexible field factory for construction industry.  ASSEMBLY AUTOMATION.  33:175-183. 2013
  • Personal Autonomy Rehabilitation in Home Environments by a Portable Assistive Robot.  IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS (IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND RE).  42:561-570. 2012
  • Experience acquisition simulator for operating microtuneling boring machines.  AUTOMATION IN CONSTRUCTION.  23:33-46. 2012
  • TEO: Full-Size Humanoid Robot Design Powered by a Fuel Cell System.  CYBERNETICS AND SYSTEMS.  43:163-180. 2012
  • Functional evaluation of ASIBOT: A new approach on portable robotic system for disabled people.  Applied Bionics and Biomechanics.  9:85-97. 2012
  • Task-Oriented Kinematic Design of a Symmetric Assistive Climbing Robot.  IEEE Transactions on Robotics.  27:1132-1137. 2011
  • A new approach on human-robot collaboration with humanoid robot RH-2.  ROBOTICA.  29:949-957. 2011
  • Robot-aided tunnel inspection and maintenance system by vision and proximity sensor integration.  AUTOMATION IN CONSTRUCTION.  20:629-636. 2011
  • A Model-Free Approach for Accurate Joint Motion Control in Humanoid Locomotion.  International Journal of Humanoid Robotics.  8:27-46. 2011
  • Usability Assessment of ASIBOT: A Portable Robot to Aid Patients with Spinal Cord Injury.  Disability and Rehabilitation-Assistive Technology.  6:320-330. 2011
  • The Rh-1 Full-Size Humanoid Robot: Design, Walking Pattern Generation and Control.  Applied Bionics and Biomechanics.  6:301-344. 2009
  • Real-Time Gait planning for the Humanoid Robot Rh-1 Using the Local Axis Gait Algorithm.  International Journal of Humanoid Robotics.  6:71-91. 2009
  • Humanoid Robot RH-1 for Collaborative Tasks: A Control Architecture for Human-Robot Cooperation.  Applied Bionics and Biomechanics.  5:225-234. 2008
  • Anti-Swinging Input Shaping Control of an Automatic Construction Crane.  IEEE Transactions on Automation Science and Engineering.  5:549-557. 2008
  • Building Industrialization: Robotized Assembly of Modular Products.  ASSEMBLY AUTOMATION.  28:134-142. 2008
  • ASIBOT: robot portátil de asistencia a discapacitados. Concepto, arquitectura de control y evaluación clínica.  Revista Iberoamericana de Automatica e Informatica Industrial.  5:48-59. 2008
  • Robots de servicio.  Revista Iberoamericana de Automatica e Informatica Industrial.  5:6-13. 2008

• book chapters 

  • Towards Objective Assessment of Upper Limb Spasticity by Means of Collaborative Robots. In: Converging Clinical and Engineering Research on Neurorehabilitation IV.  SPRINGER. 463-467. 2021
  • Control of a soft robotic link using a fractional-order controller. In: Handbook of Fractional Calculus with Applications.  De Gruyter. 321-338. 2019
  • The automated box and blocks test an autonomous assessment method of gross manual dexterity in stroke rehabilitation. In: Towards Autonomous Robotic Systems.  SPRINGER. 101-114. 2017
  • A survey on different control techniques for grasping. In: Grasping in robotics.  Springer-Verlag London. 223-246. 2013
  • Robotic Tunnel Inspection and Repair. In: Technology Innovation in Underground Construction.  CRC Press & IEEE. 445-460. 2010
  • The Rh-1 Full-Size Hhumanoid Robot: Control System Design and Walking Pattern Generation. In: Climbing and Walking Robots.  INTECH. 445-508. 2010
  • Trends in Robotics and Automation in Construction. In: Robotics and Automation in Construction.  INTECH. 1-20. 2008
  • Robot Humanoide Rh-1 como asistente personal. In: Robocity2030.  GRAFILUR,. 2008
  • ASIBOT: robot portátil de asistencia a discapacitados: concepto, arquitectura de control y evaluación clínica. In: Robots personales y asistenciales.  UNIVERSIDAD CARLOS III DE MADRID. 127-144. 2008

• books 

  • Robotics and Automation in Construction.  Rijeka: I-TECH EDUCATION AND PUBLISHING. 2008

• conference contributions 

  • Towards clothes hanging via cloth simulation and deep convolutional networks.  169-176. 2021
  • A Modular Framework to Facilitate the Control of an Assistive Robotic Arm Using Visual Servoing and Proximity Sensing.  28-33. 2020
  • Automatic Assessment of Arm Motor Function and Postural Stability in Virtual Scenarios: Towards a Virtual Version of the Fugl-Meyer Test.  1-6. 2020
  • Model Identification of a Soft Robotic Neck.  8640-8645. 2020
  • A robust control method for the elbow of the humanoid robot TEO based on a fractional order controller.  6378-6383. 2019
  • A study on the e¿ects of an embodied humanoid robot representing sign language.  26-28. 2019
  • Assessment of Manual Dexterity in VR: Towards a Fully Automated Version of the Box and Blocks Test.  57-62. 2019
  • Evaluación multi-ZMP para tareas de transporte de objetos en robots humanoides.  710-717. 2019
  • Hacia una estrategia asistida por robot para la recuperación de función motora de extremidad superior con aspectos cognitivos = Towards a Robot-Aided Strategy for Recovery of Upper Limb Motor Function Adding Cognitive Factors.  756-763. 2019
  • Quick, Stat!: a statistical analysis of the Quick, Draw! Dataset 2019
  • Robot-Based Strategy for Objective Assessment of Motor Impairments.  3386. 2019
  • Sequence-to-Sequence Natural Language to Humanoid Robot Sign Language.  44. 2019
  • Towards automated assessment of upper limbs motor function based on Fugl-Meyer test and virtual environment.  297-301. 2019
  • Whole-Body Postural Control Approach based on Multiple ZMP Evaluation in Humanoid Robots 2019
  • A First Approach to a Proposal of a Soft Robotic Link Acting as a Neck.  522-529. 2018
  • Balance computation of objects transported on a tray by ahumanoid robot based on 3D dynamic slopes.  704-709. 2018
  • Conteo automático de cubos en evaluación de destreza manual usando sensores de proximidad.  210-217. 2018
  • Design and performance validation of a cable-driven soft robotic neck.  16-1-16-6. 2018
  • Detección de la orientación mediante visión artificial para el control de equilibrio en robots humanoides.  951-957. 2018
  • INTRODUCING COMMON FACTORS FOR STANDARDIZING THE MARKET FOR EDUCATIONAL ROBOTS.  1905-1915. 2018
  • Robot imitation through vision, kinesthetic and force features with online adaptation to changing environments.  6546-6551. 2018
  • Towards a framework for rehabilitation and assessment of upper limb motor function based on Serious Games 2018
  • Towards an Automatic Spasticity Assessment by Means of Collaborative Robots.  5034-5034. 2018
  • Underwater Robot Navigation for Maintenance and Inspection of Flooded Mine Shafts.  1482-1487. 2018
  • Waiter Robot Application: Balance Control for Transporting Objects.  5036-5036. 2018
  • Autonomous robotic system with tunnel inspection tool positioning.  655-662. 2017
  • Control of robotic arm for transporting objects based on neuro-fuzzy learning visual information kinect.  760-765. 2017
  • Docking Guidance of a Mobile Accelerator using an Optical Tracker for IOERT procedures. Feasibility study 2017
  • Experimental error compensation of the linear inverted pendulum model for humanoid robot TEO 2017
  • HORUS: Inspección robotizada de los trajes de protección del personal sanitario de pacientes en aislamiento de alto nivel, incluido el Ébola 2017
  • HUMASoft: Diseño y Control de Eslabones Blandos para Robots Humanoides.  1-6. 2017
  • Improving CGDA execution through genetic algorithms incorporating spatial and velocity constraints.  290-295. 2017
  • Improving and evaluating robotic garment unfolding: a garment-agnostic approach.  210-215. 2017
  • Intelligent robotic system for autonomous crack detection and caracterization in concrete tunnels.  316-321. 2017
  • ROBOHEALTH-A: Development of assistive and rehabilitation robots for the improvement of patient's well-being 2017
  • Reducing the number of evaluations required for CGDA execution through Particle Swarm Optimization methods.  284-289. 2017
  • RoboCom++: Rethinking Robotics for the Robot Companion of the Future.  1-5. 2017
  • Robotic ironing with 3D perception and force/torque feedback in household environments.  6484-6489. 2017
  • Robotic ironing with a humanoid robot using human tools.  134-139. 2017
  • Robust motion control of a soft robotic system Using fractional order control.  147-155. 2017
  • The automated box and blocks test an autonomous assessment method of gross manual dexterity in stroke rehabilitation.  101-114. 2017
  • A lightweight finite state machine C++ library aimed at seamless integration with robotic middlewares.  1-8. 2016
  • A new generation of entertainment robots enhanced with augmented reality.  129-136. 2016
  • A pilot study about the smartwatch as assistive device for deaf people.  19-28. 2016
  • A pilot study on the design considerations and user impressions of an assistive affordable device.  19-28. 2016
  • Control orientado a la herramienta para dispositivo asistencial en tareas que requieren capacidad de pinzado 2016
  • Design and characterization of a novel mechanism of multiple joint stiffness (MMJS).  2444-2451. 2016
  • El "automatizado Box & Block Test" sistema automático de evaluación de destreza manual gruesa.  619-626. 2016
  • Future trends in perception and manipulation for unfolding and folding garments.  333-340. 2016
  • New trends and challenges in the automatic generation of new tasks for humanoid robots.  169-176. 2016
  • Toward an automated assessment method of manual dexterity.  1-2. 2016
  • Towards robotic garment folding: a vision approach for fold detection.  188-192. 2016
  • Automatic demonstration and feature selection for robot learning.  428-433. 2015
  • Robot devastation: using DIY low-cost platforms for multiplayer interaction in an augmented reality game.  32-36. 2015
  • The ROBO-SPECT EU Project: autonomous robotic tunnel inspection.  91-100. 2015
  • Action Effect Generalization, Recognition and Execution through Continuous Goal-Directed Actions.  1822. 2014
  • Assistive robot multi-modal interaction with augmented 3D vision and dialogue.  209-217. 2014
  • Framework for learning and adaptation of robot skills to task constraints.  557-572. 2014
  • Generation and adaptation of robot skills models.  173-178. 2014
  • Generation of New Robot Skills from Learned Skills.  3030-3035. 2014
  • Knowledge Base Representation for Humanoid Robot Skills.  3042-3047. 2014
  • Planificación de misiones de vehículos aéreos no tripulados con fast marching en un entorno 3D.  19-25. 2014
  • "Give me the red can": assistive robot task creation through multi-modal interaction.  4-11. 2013
  • A complete 3D perception and path planning architecture for a humanoid.  167-184. 2013
  • A mumanoid robot standing up through learning from demonstration using a multimodal reward function 2013
  • A review of eight years of CEABOT contest: a national wide mini humanoids competition.  41-52. 2013
  • Adaptive collision-limitation behavior for an assistive manipulator.  1143-1148. 2013
  • Augmented reality and social interaction platform through multirobot design 2013
  • Cognitive model framework for learning and adaptation of robot skills to task constraints.  47-66. 2013
  • Creación de Tareas de Asistencia Robótica Mediante la Interacción Multimodal.  21-24. 2013
  • Diseño preliminar de interfaces de realidad aumentada para el robot asistencial ASIBOT.  213-219. 2013
  • Distinguishing between similar objects based on geometrical features in 3D perception.  77-92. 2013
  • Evolutionary fractional order control of a humanoid robot modeled as a triple inverted pendulum.  245-264. 2013
  • Object tagging for human-robot interaction by recolorization using Gaussian mixture models.  67-76. 2013
  • Robust control of a reduced humanoid robot model using genetic algorithms and fractional calculus 2013
  • Semantic action parameter inference through machine learning methods.  35-46. 2013
  • Towards robot imagination through object feature inference.  5694-5699. 2013
  • Benchmarking Shared Control for Assistive Manipulators: From Controllability to the Speed-Accuracy Trade-Off.  4386-4391. 2012
  • Diseño y simulación de un actuador de rigidez variable.  154-161. 2012
  • Dynamic Modelling of Humanoid Robots Using Spatial Algebra 2012
  • Estimation for Humanoid Robots using sensorial Intefration and Extended Kalman Filtering 2012
  • Experimental evaluation of assistive robots in virtual domestic scenarios 2012
  • Extended range guidance system for microtunnelling machine 2012
  • Facial Gesture Recognition using Active Appearance Models based on Neural Evolution.  133-134. 2012
  • Full-Size Humanoid Robot TEO: Design Attending Mechanical Robustness and Energy Consumption.  325-330. 2012
  • Hebb-like Learning for the Grounding of High-Level Symbols in Sensorimotor Trajectories 2012
  • Online Learning of Sensorimotor Interactions Using a Neural Network with Time-Delayed Inputs 2012
  • Perception System for Working with Humanoid Robots in Unstructured Collaborative Scenarios 2012
  • An Information-Theoretic Approach to Modeling and Quantifying Assistive Robotics HRI.  257-258. 2011
  • Aplicación de teoría de la información para el modelado y cuantificación de la interacción persona-robot.  36-45. 2011
  • Facial gesture recognition and postural interaction using neural evolution algorithm and active appearance models.  145-159. 2011
  • Interacción humano-robot a través de interfaces en la nube 2011
  • Methodologies for Experimental Evaluation of Assistive Robotics HRI.  111-127. 2011
  • Modelling and simulation of the humanoid robot HOAP-3 in the OpenHRP3 platform.  105-112. 2011
  • SULTAN: Simultaneous User Learning and Task Execution, and its Application in Assistive Robotics.  6-8. 2011
  • ASIBOT Assistive Robot with Vision in a Domestic Environment.  61-74. 2010
  • Information Metrics for Assistive Human-In-The-Loop Cognitive Systems 2010
  • Towards an Enabling Multimodal Interface for an Assistive Robot 2010
  • A Human-Humanoid Interface for Collaborative Tasks 2009
  • Humanoid Teleoperation System for Space Environments.  1-6. 2009
  • Realización de tareas colaborativas entre robots humanoides. Experimentación con dos robots Robonova 2009
  • ASIBOT: robot portátil de asistencia a discapacitados. Concepto, arquitectura de control y evaluación clínica 2008
  • Arquitectura de control para la colaboración hombre-humanoide.  183-191. 2008
  • CEABOT: concurso nacional de pequeños robots humanoides: normativa, experiencias y nuevos retos 2008
  • Control de la caminata del Robot Humanoide RH-1 2008
  • Dynamic Acyclic Motion from a Planar Contact-Stance to Another.  3440-3445. 2008
  • Human-Humanoid Robot Cooperation in Collaboration Transportation Tasks 2008
  • Inverse dynamics modelling for humanoid robots based in lie groups and screws 2008
  • Modelado y control del robot humanoide RH-1 mediante el modelo del péndulo invertido simple 2008
  • Modelling and Control of the Humanoid Robot RH-1 for Collaborative Tasks 2008
  • Robot Humanoide RH-1 Como Asistente Personal 2008
  • Robotized Lean Assembly in the Construction Industry 2008
  • Usability assessment of ASIBOT, a Portable Robot to Aid Spinal Cord Injury Patients 2008