A platform for researching on multimodal robot-assisted rehabilitation therapies - Morales, Ricardo; Javier Badesa, Francisco; Rodriguez, J.; Garcia-Aracil, Nicolas; Maria Azorin, Jose; Perez-Vidal, Carlos; (2010 3rd Ieee Ras And Embs International Conference On Biomedical Robotics And Biomechatronics, 2012)