A5051053355- Prosthetics and Rehabilitation Robotics
- Robotic Locomotion and Control
- Muscle activation and electromyography studies
- Cerebral Palsy and Movement Disorders
- Stroke Rehabilitation and Recovery
- Neurogenetic and Muscular Disorders Research
- Robot Manipulation and Learning
- Robotic Mechanisms and Dynamics
- Mechanical Circulatory Support Devices
- Robotic Path Planning Algorithms
- Robotics and Automated Systems
- Soft Robotics and Applications
- Modular Robots and Swarm Intelligence
- Control and Dynamics of Mobile Robots
- Robotics and Sensor-Based Localization
- Analog and Mixed-Signal Circuit Design
- Spinal Cord Injury Research
- Integrated Circuits and Semiconductor Failure Analysis
- VLSI and Analog Circuit Testing
- BIM and Construction Integration
- Teleoperation and Haptic Systems
- Balance, Gait, and Falls Prevention
- Assistive Technology in Communication and Mobility
- Botulinum Toxin and Related Neurological Disorders
- Advancements in Semiconductor Devices and Circuit Design
Centre for Automation and Robotics
2014-2023
Consejo Superior de Investigaciones Científicas
2007-2023
Hospital General De Segovia
2023
Universidad Politécnica de Madrid
2013-2022
Universidade de São Paulo
2016
Universidad Autónoma de Nuevo León
2001-2015
Unidades Centrales Científico-Técnicas
2012
Universitat de les Illes Balears
2003-2011
CEA Paris-Saclay - Etablissement de Fontenay-aux-roses
2011
Commissariat à l'Énergie Atomique et aux Énergies Alternatives
2011
This article surveys traditional research topics in industrial robotics and mobile then expands on new trends that focus more the interaction between human robot. The have been denominated service because of their general goal getting robots closer to social needs, this such as medical robotics, rehabilitation underwater field construction humanoid robotics. aim is provide an overview evolution from classical motion control for modern intelligent techniques learning paradigms, among other aspects.
Part I Walking Measurements and Algorithms Robots Stability in Generation of Periodic Gaits on Non-periodic New Approaches to II Control Techniques Kinematics Dynamics Improving Leg Speed by Soft Computing Virtual Sensors for Human-Machine Interaction The SIL04 Robot Simulation Software
The field of exoskeletons and wearable devices for walking assistance rehabilitation has advanced considerably over the past few years. Currently, commercial contain joints with stiff actuators that cannot adapt to unpredictable environments. These consume more energy may not be appropriate human-machine interactions. Thus, adjustable compliant are being cautiously incorporated into new active orthoses. Some simulation-based studies have evaluated benefits incorporating such devices. Another...
We argue that there is currently an under-reporting of the ways in which pain can be associated with problem behavior, seriously limiting recognition this welfare problem. A review caseloads 100 recent dog cases several authors indicates a conservative estimate around third referred involve some form painful condition, and instances, figure may nearly 80%. The relationship often complex but always logical. Musculoskeletal also gastro-intestinal dermatological conditions are commonly...
Several static and dynamic stability criteria have been defined in the course of walking robot history. Nevertheless, different applications may require and, to authors' best knowledge, there is no qualitative classification such measurements. Using wrong criterion control a gait prevent task from succeeding. Furthermore, if optimum found, can also be optimized. In this paper, that applied robots with at least four legs are examined terms their margins situations. As result, for machines...
Minimization of energy expenditure in autonomous mobile robots for industrial and service applications is a topic huge importance, as it the best way lengthening mission time without modifying power supply. This paper presents method to minimize consumption hexapod robot on irregular terrain. An energy-consumption model derived statically stable gaits before applying minimization criteria. Then, some parameters that define foot trajectories legged are computed during every half locomotion...
By analysing the dynamic principles of human gait, an economic gait-control analysis is performed, and passive elements are included to increase energy efficiency in motion control active orthoses. Traditional orthoses use position patterns from clinical gait analyses (CGAs) healthy people, which then de-normalized adjusted each user. These maintain a very rigid their cost high, reducing autonomy First, take advantage inherent dynamics legs, state machine pattern with different gains applied...
Lower-limb exoskeletons and powered orthoses in gait assistance applications for patients with locomotive disorders possess the potential to significantly affect society near future. This paper presents primary features of a lower-limb exoskeleton under development as an active orthosis enable paralysed children walk. Because these are unable move their limbs, device generates basic motions everyday life, e.g. standing up, sitting down stable ambulation. Novel this prototype include synergic...
To date, running robots are still outperformed by animals, but their dynamic behaviour can be described the same model. This coincidence means that biomechanical studies reveal much about adaptability and energy efficiency of walking mechanisms. In particular, animals adjust leg stiffness to negotiate terrains with different stiffnesses keep total leg-ground constant. this work, we aim provide one method identify ground-robot impedance so control applied emulate aforementioned animal...
Abstract Background Few portable exoskeletons following the assist-as-needed concept have been developed for patients with neurological disorders. Thus, main objectives of this proof-of-concept study were 1) to explore safety and feasibility an exoskeleton gait rehabilitation in stroke multiple sclerosis patients, 2) test different algorithms assistance measure resulting changes 3) evaluate user’s perception device. Methods A cross-sectional was conducted. Five recruited (4 1 sclerosis)....
Abstract Background Children with spinal muscular atrophy (SMA) present muscle weakness and that results in a number of complications affecting their mobility, hindering independence the development activities daily living. Walking has well-recognized physiological functional benefits. The ATLAS 2030 exoskeleton is paediatric device allows gait rehabilitation children either neurological or neuromuscular pathologies disorders. purpose to assess effects range motion (ROM) maximal isometric...
Although hippotherapy treatment has been demonstrated to have therapeutic effects on children with cerebral palsy, the samples used in research studies very small. In case of simulators, there are no that either recommend or advise against their use palsy. The aim this randomised clinical study is analyse contraindications a commercial simulator several important factors relating palsy such as motor development, balance control sitting posture, hip abduction range motion and...
Objective: To investigate whether hippotherapy (when applied by a simulator) improves postural control and balance in children with cerebral palsy. Design: Stratified single-blind randomized controlled trial an independent assessor. Stratification was made gross motor function classification system levels, allocation concealed. Subjects: Children between 4 18 years old Interventions: Participants were to intervention (simulator ON) or OFF) group after getting informed consent. Treatment...
The potential of lower-limb exoskeletons and powered orthoses in gait assistance applications for patients with locomotive disorders would have a terrific impact the society near future. This paper presents development main features lower limb exoskeleton being developed as an active orthosis to allow quadriplegic child walk. As patient is not able move any her limbs, device will produce basic motions everyday-life activities: stand up, sit down, walk stably. Synergic biarticular actuation...
Several static and dynamic stability criteria have been defined in the course of walking-robot history. Nevertheless, previous work on classification for statically stable walking machines (having at least four legs) reveals that there is no margin accurately predicts robot when inertial manipulation effects are significant. In such cases, every momentum-based fails. The use an unsuitable criterion yields unavoidable errors control robots. Moreover, usually appear motion these robots they...
The development of functional legged robots has encountered its limits in human-made actuation technology. This paper describes research on the biomimetic design legs for agile quadrupeds. A leg concept that extracts key principles from horse which are responsible and powerful locomotion these animals is presented. proposed model defines effective length, kinematics, limb mass distribution, actuator power, elastic energy recovery as determinants locomotion, values five elements given....
Stroke is one of the leading causes disability in adults worldwide, and main objectives rehabilitation these patients to recover gait. New technologies have emerged cope with this issue, complementing conventional therapy use devices such as exoskeletons. The Marsi Active Knee (MAK) exoskeleton (Marsi Bionics SL, Madrid, Spain) has already been tested, but an updated version was improved allow perform functional exercises. aim study assess safety usability MAK stroke population well its...
This article presents the SIL04 walking robot, a medium-sized quadruped mechanism built for basic research and development as well educational purposes. The is compact, modular, robust machine capable of negotiating irregular terrain, surmounting obstacles up to 250 mm tall carrying about 15 kg in payload at maximum velocity 1.5 m/min, depending on gait it using. A brief description SIL04's leg body structures, foot mechanisms robot configuration provided, some insights into hardware,...
The application of impedance control strategies to modern legged locomotion is analyzed, paying special attention the concepts behind its implementation which not straightforward.In order implement a functional controller for walking mechanism, contact, impact, friction, and have be merged together.A literature review comprehensive analysis are presented compiling all these along with discussion on position-based versus forcebased approaches, theoretical model robotic leg in contact...