Ara es mostren els items 26-45 de 81

    • Design of a 3-DoF joint system with dynamic servo-adaptation in orthotic applications 

      Amigo, Luis; Casals Gelpí, Alicia; Amat Girbau, Josep (2011)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      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 ...
    • Detection of movements with attention or distraction to the motor task during robot-assisted passive movements of the upper limb 

      Antelis, Javier M.; Montesano, Luis; Giralt Ludevid, Xavier; Casals Gelpí, Alicia; Minguez, Javier (Institute of Electrical and Electronics Engineers (IEEE), 2012)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      Robot-assisted rehabilitation therapies usually focus on physical aspects rather than on cognitive factors. However, cognitive aspects such as attention, motivation, and engagement play a critical role in motor learning ...
    • 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 Gelpí, Alicia; Amat Girbau, Josep (2013)
      Text en actes de congrés
      Accés obert
      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, ...
    • EndoTrainer: a novel hybrid training platform for endoscopic surgery 

      Hernansanz Prats, Alberto; Rovira Negre, Ramón; Basomba, Joan; Comas, Roger; Casals Gelpí, Alicia (2023-01-01)
      Article
      Accés obert
      Purpose Endoscopy implies high demanding procedures, and their practice requires structured formation curricula supported by adequate training platforms. Physical platforms are the most standardised solution for surgical ...
    • Estimating position & velocity in 3D space from monocular video sequences using a deep neural network 

      Marbán González, Arturo; Srinivasan, Vignesh; Samek, Wojciech; Fernández Ruzafa, José; Casals Gelpí, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2018)
      Text en actes de congrés
      Accés obert
      This work describes a regression model based on Convolutional Neural Networks (CNN) and Long-Short Term Memory (LSTM) networks for tracking objects from monocular video sequences. The target application being pursued is ...
    • Estimation of interaction forces in robotic surgery using a semi-supervised deep neural network model 

      Marbán González, Arturo; Srinivasan, Vignesh; Samek, Wojciech; Fernández Ruzafa, José; Casals Gelpí, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2018)
      Text en actes de congrés
      Accés obert
      Providing force feedback as a feature in current Robot-Assisted Minimally Invasive Surgery systems still remains a challenge. In recent years, Vision-Based Force Sensing (VBFS) has emerged as a promising approach to address ...
    • Evaluating spatial characteristics of upper-limb movements from EMG signals 

      Urra, Oiane; Casals Gelpí, Alicia; Jané Campos, Raimon (Springer, 2014)
      Capítol de llibre
      Accés obert
      Stroke is a major cause of disability, usually causing hemiplegic damage on the motor abilities of the patient. Stroke rehabilitation seeks restoring normal motion on the affected limb. However, ‘normality’ of movements ...
    • Exploring improvements on the complexity-performance ratio and usability of surgical robots 

      Casals Gelpí, Alicia; Frigola Bourlon, Manel; Bergés Martín, Eduard; Amat Girbau, Josep (2014)
      Text en actes de congrés
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      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 ...
    • Force-feedback sensory substitution using supervised recurrent learning for robotic-assisted surgery 

      Avilés Rivero, Angélica; Alsaleh, Samar M.; Sobrevilla Frisón, Pilar; Casals Gelpí, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      The lack of force feedback is considered one of the major limitations in Robot Assisted Minimally Invasive Surgeries. Since add-on sensors are not a practical solution for clinical environments, in this paper we present a ...
    • Global/local motion planning based on dynamic trajectory reconfiguration and dynamical systems for autonomous surgical robots 

      Sayols Baixeras, Narcís; Sozzi, Alessio; Piccinelli, Nicola; Hernansanz Prats, Alberto; Casals Gelpí, Alicia; Bonfè, Marcello; Muradore, Riccardo (2020)
      Text en actes de congrés
      Accés obert
      This paper addresses the generation of collisionfree trajectories for the autonomous execution of assistive tasks in Robotic Minimally Invasive Surgery (R-MIS). The proposed approach takes into account geometric constraints ...
    • Guest Editorial CRAS—Joining Efforts, Progressing Faster 

      Casals Gelpí, Alicia; Hernansanz Prats, Alberto (Institute of Electrical and Electronics Engineers (IEEE), 2021-11-30)
      Article
      Accés obert
      CRAS – the Conference on New Technologies for Computer and Robot Assisted Surgery – strives to strengthen the collaboration and knowledge exchange between research groups active in this field and by doing so shorten the ...
    • Human machine interfaces for robot-assisted colonoscopy: a clinical survey 

      Finocchiaro, Martina; Arezzo, Alberto; Menciassi, Arianna; Casals Gelpí, Alicia; Hernansanz Prats, Alberto; Ciuti, Gastone (EasyChair Publications, 2022)
      Comunicació de congrés
      Accés obert
      In the last decade, a variety of Human Machine Interfaces (HMI) have been designed for robot assisted colonoscopy, including different input devices, assistive tools and feedback. However, few studies aiming at assessing ...
    • IK-FA, a new heuristic inverse kinematics solver using firefly algorithm 

      Rokbani, Nizar; Casals Gelpí, Alicia; Alimi, Adel M. (Springer, 2015-11-27)
      Capítol de llibre
      Accés obert
      In this paper, a heuristic method based on Firefly Algorithm is proposed for inverse kinematics problems in articulated robotics. The proposal is called, IK-FA. Solving inverse kinematics, IK, consists in finding a set of ...
    • Improving the development of surgical skills with virtual fixtures in simulation 

      Hernansanz Prats, Alberto; Zerbato, Davide; Gasperotti, Lorenza; Scandola, Michele; Fiorini, Paolo; Casals Gelpí, Alicia (Springer, 2012)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      This paper focuses on the use of virtual fixtures to improve the learning of basic skills for laparoscopic surgery. Five virtual fixtures are defined, integrated into a virtual surgical simulator and used to define an experimental ...
    • Improving the performance of input interfaces through scaling and human motor models 

      Muñoz Morgado, Luis Miguel; Casals Gelpí, Alicia (2016)
      Article
      Accés obert
      The performance of interfaces is affected by human factors, which vary from one person to another, and by the inherent characteristics of the various devices involved. A set of techniques has been studied in order to ...
    • Intuitive graphic interface for assisted teleoperation in surgical applications 

      Casals Gelpí, Alicia; Campos Querol, Jordi; Giralt Ludevid, Xavier; Amat Girbau, Josep (2010)
      Comunicació de congrés
      Accés obert
      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 ...
    • Jornadas nacionales de Robótica y Bioingeniería 

      Casals Gelpí, Alicia; Minguella Canela, Joaquim; Muñoz Morgado, Luis Miguel (Universidad Politécnica de Madrid (UPM), 2023)
      Text en actes de congrés
      Accés obert
      Existen diferentes enfoques para incorporar funcionalidades a sillas de ruedas, convirtiéndolas en plataformas no solo para proporcionar movilidad sino también postura y actuación. Sin embargo, a medida que se añaden grados ...
    • Learning from demonstrations for autonomous soft-tissue retraction 

      Pore, Ameya Ravindra; Tagliabue, Eleonora; Piccinelli, Marco; Dall'Alba, Diego; Casals Gelpí, Alicia; Fiorini, Paolo (2021)
      Text en actes de congrés
      Accés obert
      The current research focus in Robot-Assisted Minimally Invasive Surgery (RAMIS) is directed towards increasing the level of robot autonomy, to place surgeons in a supervisory position. Although Learning from Demonstrations ...
    • Modelo virtual de una plataforma de movilidad ortesis-silla para entornos domésticos 

      Minguella Canela, Joaquim; Iturbe Etxabe, Eider; Muñoz Morgado, Luis Miguel; Casals Gelpí, Alicia (Universidade da Coruña. Servizo de Publicacións, 2023)
      Text en actes de congrés
      Accés obert
      Dada una plataforma híbrida silla-ortesis que permita gestionar movilidad, postura y actuación, es necesario controlar numerosos grados de libertad. Para que la plataforma sea funcional, es necesario asegurar que el ...
    • Motor-model-based dynamic scaling in human-computer interfaces 

      Muñoz Morgado, Luis Miguel; Casals Gelpí, Alicia; Frigola Bourlon, Manel; Amat Girbau, Josep (2011-04)
      Article
      Accés restringit per política de l'editorial
      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 ...