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In this paper we compute, within in the context of a relativistic quark model, the Isgur-Wise functions for exclusive semileptonic $\bar B \to X_c$ decays, where $X_c$ is any charmed mesons with total spin $J=0,1,2$ or one of their first excited states. The relevant matrix elements are computed by a direct numerical integration, in coordinate space, of the convolution of the wave function of the $B$ meson at rest and the wave function of the $X_c$ meson, boosted according with its recoil factor. Our results are compared with other predictions found in the existing literature.