Now showing items 1-11 of 11

  • A multi-robot cooperation strategy for dexterous task oriented teleoperation 

    Hernansanz Prats, Alberto; Casals Gelpi, Alicia; Amat Girbau, Josep (2015-06-01)
    Article
    Restricted access - publisher's policy
    The use of multiple robots working cooperatively in a redundant way offers new possibilities in the execution of complex tasks in dynamic workspaces. The aim of this work is to increase the range of applicability of ...
  • Design of a 3-DoF joint system with dynamic servo-adaptation in orthotic applications 

    Amigo, Luis; Casals Gelpi, Alicia; Amat Girbau, Josep (2011)
    Conference report
    Restricted access - publisher's policy
    Most exoskeleton designs rely on structures and mechanical joints that do not guarantee the right match between the orthosis and the user. This paper proposes a virtual joint model based on three active degrees of freedom ...
  • Diseño de una arquitectura de ortesis adaptativa y estudio de la personalización de su grado de asistencia 

    Amigo, Luis; Giralt Ludevid, Xavier; Fernández, Quim; Casals Gelpi, Alicia; Amat Girbau, Josep (2013)
    Conference report
    Open Access
    Uno de los principales objetivos de las terapias de rehabilitación del miembro superior asistidas por robots es incrementar la recuperación funcional al finalizar la terapia y a su vez disminuir el tiempo de esta recuperación, ...
  • Exploring improvements on the complexity-performance ratio and usability of surgical robots 

    Casals Gelpi, Alicia; Frigola Bourlon, Manel; Bergés Martín, Eduard; Amat Girbau, Josep (2014)
    Conference report
    Restricted access - publisher's policy
    Surgical robots are endowed with valuable features that allow surgeons mproving their work in terms of accuracy, quality, efficiency and liability. Tremor reduction, scaled movements, virtual fixtures, pre and intraoperative ...
  • Generació vectorial de caràcters alfanumèrics sobre TRC (tub de raigs catòdics) 

    Amat Girbau, Josep; Brunet Crosa, Pere (Universitat Politècnica de Barcelona. Centre de Càlcul, 1978-03)
    Article
    Open Access
    L'article presenta un mètode de traçat vectorial de caràcters alfanumèrics sobre tub de Raigs Catòdics. El fet d'haver escollit prèviament un conjunt restringit de vectors de diferents mòduls i pendents que permeten de ...
  • Intuitive graphic interface for assisted teleoperation in surgical applications 

    Casals Gelpi, Alicia; Campos Querol, Jordi; Giralt Ludevid, Xavier; Amat Girbau, Josep (2010)
    Conference lecture
    Open Access
    Human-Machine interfaces constitute a key factor to guarantee the effective use of technological equipment. In the field of image guided surgery and surgical robots, the availability of an adequate interaction means ...
  • Motor-model-based dynamic scaling in human-computer interfaces 

    Muñoz Morgado, Luis Miguel; Casals Gelpi, Alicia; Frigola Bourlon, Manel; Amat Girbau, Josep (2011-04)
    Article
    Restricted access - publisher's policy
    This paper presents a study on how the application of scaling techniques to an interface affects its performance. A progressive scaling factor based on the position and velocity of the cursor and the targets improves ...
  • Optimization criterion for safety task transfer in cooperative robotics 

    Hernansanz Prats, Alberto; Amat Girbau, Josep; Casals Gelpi, Alicia (2009)
    Conference report
    Open Access
    This paper presents a strategy for a cooperative multirobot system, constituting a Virtual Robot. The Virtual Robot is composed of a set of robotic arms acting as only one, transferring the execution of a teleoperated task ...
  • Sistema integrado de posicionado, visualización y acotamiento de áreas de trabajo en cirugía ortopédica 

    Casals Gelpi, Alicia; Basomba Feliu, Joan; Bergès, Eduard; Frigola Bourlon, Manel; Amat Girbau, Josep (2013)
    Conference report
    Open Access
    La percepción que el cirujano tiene de la intervención que está realizando es esencial para garantizar una operación segura y eficiente. En cirugía robotizada los sistemas de percepción disponibles son muy limitados, lo ...
  • Study of patient-orthosis interaction forces in rehabilitation therapies 

    Amigo, Luis; Fernández, Quim; Giralt Ludevid, Xavier; Casals Gelpi, Alicia; Amat Girbau, Josep (Institute of Electrical and Electronics Engineers (IEEE), 2012)
    Conference report
    Restricted access - publisher's policy
    The design of mechanical joints that kinematically behave as their biological counterparts is a challenge that if not addressed properly can cause inadequate forces transmission between robot and patient. This paper studies ...
  • Virtual Robot: a new teleoperation paradigm for minimally invasive robotic surgery 

    Hernansanz Prats, Alberto; Amat Girbau, Josep; Casals Gelpi, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2012)
    Conference report
    Restricted access - publisher's policy
    This paper presents a novel teleoperation paradigm, the Virtual Robot (VR), focused on facilitating the surgeon tasks in minimally invasive robotic surgery. The VR has been conceived to increase the range of applicability ...