The Cuba international, 28, has agreed a season-long stay at the Championship club and was in the stands for Boro's 1-1 draw with Blackburn on Saturday.
He started just six times in the Championship as Norwich made an immediate return to the top flight last season, featuring in 15 more league games as a substitute.
"I think he needs us as much as we need him, having not played an awful lot over the past year.
"He'll get plenty of opportunities here and I'm looking forward to working with him."
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