http://hdl.handle.net/2117/7010 Fri, 24 May 2013 00:28:37 GMT 2013-05-24T00:28:37Z webmaster.bupc@upc.edu Universitat Politècnica de Catalunya. Servei de Biblioteques i Documentació no http://hdl.handle.net/2117/18505 Title: Valoración del daño corporal en personas afectadas de secuelas neurológicas Authors: Peña Pitarch, Esteve; Ticó Falguera, Neus Abstract: Objetivo: Mostrar un nuevo sistema para simular la recuperación inicial de las funciones de la extremidad superior los primeros días después del ictus y simular la recuperación funcional de los pacientes bajo los programas de rehabilitación. Pacientes y metodología: Seleccionamos 29 pacientes en los primeros cuatro días después de padecer un ictus, valorados a los tres y siete días y uno, tres y seis meses, recogiendo tipo de ictus, clasificación (escala de Oxford), déficit neurológico (escala de NIHSS), medidas de discapacidad, valoración de la función motora de la extremidad superior (escala de Fugl-Meyer), tono muscular y balance muscular de la extremidad superior. Resultados: Los pacientes que presentaron un tono muscular disminuido tuvieron más dificultad en mejorar el control motor de las articulaciones de la extremidad superior. Los pacientes TACI presentaron mayor déficit neurológico, mientras que los tipos de ictus POCI y LACI tenían una función motora mejor con mayor independencia para el desarrollo de sus actividades de la vida diaria. Conclusión: La simulación virtual del brazo y la mano en pacientes afectados por un ictus proporciona a los médicos y fisioterapeutas una nueva herramienta que permite simular la evolución de los déficits en algunos pacientes. Fri, 22 Mar 2013 16:16:33 GMT http://hdl.handle.net/2117/18505 2013-03-22T16:16:33Z Peña Pitarch, Esteve; Ticó Falguera, Neus no Objetivo: Mostrar un nuevo sistema para simular la recuperación inicial de las funciones de la extremidad superior los primeros días después del ictus y simular la recuperación funcional de los pacientes bajo los programas de rehabilitación. Pacientes y metodología: Seleccionamos 29 pacientes en los primeros cuatro días después de padecer un ictus, valorados a los tres y siete días y uno, tres y seis meses, recogiendo tipo de ictus, clasificación (escala de Oxford), déficit neurológico (escala de NIHSS), medidas de discapacidad, valoración de la función motora de la extremidad superior (escala de Fugl-Meyer), tono muscular y balance muscular de la extremidad superior. Resultados: Los pacientes que presentaron un tono muscular disminuido tuvieron más dificultad en mejorar el control motor de las articulaciones de la extremidad superior. Los pacientes TACI presentaron mayor déficit neurológico, mientras que los tipos de ictus POCI y LACI tenían una función motora mejor con mayor independencia para el desarrollo de sus actividades de la vida diaria. Conclusión: La simulación virtual del brazo y la mano en pacientes afectados por un ictus proporciona a los médicos y fisioterapeutas una nueva herramienta que permite simular la evolución de los déficits en algunos pacientes. http://hdl.handle.net/2117/17845 Title: Hybrid mapping for the assistance of teleoperated grasping tasks Authors: Colasanto, Luca; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan Abstract: Teleoperating a robotic hand with the aid of a sensorized glove presents some particular problems. A certain problem is due to the kinematic differences between the human hand and the robotic hand, which do not allow a simple direct mapping of the sensor readings from the glove to the robotic hand. This problem is addressed with different types of mapping, but none of them is of general use. This paper proposes two new mappings within two existing mapping types, as well as a new hybrid mapping that combines the best features of these existing mapping types. This hybrid mapping allows intuitive free space movements (where the gesture is more important than the precise positions of the fingers) and grasp movements (where the precise positions of the fingers is more important than the gesture), despite kinematic differences between the human hand and the robotic hand. The approach has been implemented, and some illustrative examples are presented in this paper. Mon, 18 Feb 2013 14:58:29 GMT http://hdl.handle.net/2117/17845 2013-02-18T14:58:29Z Colasanto, Luca; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan no Teleoperating a robotic hand with the aid of a sensorized glove presents some particular problems. A certain problem is due to the kinematic differences between the human hand and the robotic hand, which do not allow a simple direct mapping of the sensor readings from the glove to the robotic hand. This problem is addressed with different types of mapping, but none of them is of general use. This paper proposes two new mappings within two existing mapping types, as well as a new hybrid mapping that combines the best features of these existing mapping types. This hybrid mapping allows intuitive free space movements (where the gesture is more important than the precise positions of the fingers) and grasp movements (where the precise positions of the fingers is more important than the gesture), despite kinematic differences between the human hand and the robotic hand. The approach has been implemented, and some illustrative examples are presented in this paper. http://hdl.handle.net/2117/17562 Title: Exoesqueleto para mano discapacitada con movimiento y sensibilidad, pero sin fuerza Authors: Peña Pitarch, Esteve; Ticó Falguera, Neus; López Martínez, Joan Antoni; Abenoza Guardiola, Montserrat; Romero Cullerés, Georgia Abstract: Personas con ciertas patologías tienen limitaciones en sus actividades de la vida diaria, tales como coger un vaso de agua o mover un objeto. Las ortesis ayudan a mejorar y/o restaurar la funcionalidad del sistema muscoesquelético en pacientes que tienen las limitaciones descritas. Este artículo presenta una de estas ortesis, un exoesqueleto para la mano discapacitada, con el fin de ayudar a mejorar sus actividades de la vida diaria. La novedad de este exoesqueleto patentado es que no necesita ningún tipo de energía externa para su activación. Un movimiento de la muñeca hace que se active, creando una cadena cinemática de movimientos que ayuda a agarrar el objeto. Fri, 01 Feb 2013 15:24:05 GMT http://hdl.handle.net/2117/17562 2013-02-01T15:24:05Z Peña Pitarch, Esteve; Ticó Falguera, Neus; López Martínez, Joan Antoni; Abenoza Guardiola, Montserrat; Romero Cullerés, Georgia no Personas con ciertas patologías tienen limitaciones en sus actividades de la vida diaria, tales como coger un vaso de agua o mover un objeto. Las ortesis ayudan a mejorar y/o restaurar la funcionalidad del sistema muscoesquelético en pacientes que tienen las limitaciones descritas. Este artículo presenta una de estas ortesis, un exoesqueleto para la mano discapacitada, con el fin de ayudar a mejorar sus actividades de la vida diaria. La novedad de este exoesqueleto patentado es que no necesita ningún tipo de energía externa para su activación. Un movimiento de la muñeca hace que se active, creando una cadena cinemática de movimientos que ayuda a agarrar el objeto. http://hdl.handle.net/2117/17093 Title: Effect of human link length determination on posture reconstruction Authors: Gragg, J.; Yang, Jingzhou; Cloutier, A.; Peña Pitarch, Esteve Tue, 11 Dec 2012 09:03:49 GMT http://hdl.handle.net/2117/17093 2012-12-11T09:03:49Z Gragg, J.; Yang, Jingzhou; Cloutier, A.; Peña Pitarch, Esteve no Posture reconstruction, Link lengths, Digital human models, Motion capture http://hdl.handle.net/2117/17092 Title: Nonlinear inverse optimization approach for determining the weights of objective function in standing reach tasks Authors: Zou, Q.; Zhang, Qinghong; Yang, Jingzhou; Cloutier, A.; Peña Pitarch, Esteve Tue, 11 Dec 2012 08:52:20 GMT http://hdl.handle.net/2117/17092 2012-12-11T08:52:20Z Zou, Q.; Zhang, Qinghong; Yang, Jingzhou; Cloutier, A.; Peña Pitarch, Esteve no Inverse optimization, Multi-objective optimization, Objective function, Standing reach tasks, Weights http://hdl.handle.net/2117/15436 Title: Erratum to ‘‘An adaptive controller for nonlinear teleoperators" Authors: Nuño Ortega, Emmanuel; Ortega, Romeo; Basañez Villaluenga, Luis Thu, 01 Mar 2012 10:32:44 GMT http://hdl.handle.net/2117/15436 2012-03-01T10:32:44Z Nuño Ortega, Emmanuel; Ortega, Romeo; Basañez Villaluenga, Luis no http://hdl.handle.net/2117/13433 Title: Passivity-based control for bilateral teleoperation: A tutorial Authors: Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis; Ortega, Romeo Abstract: This tutorial revisits several of the most recent passivity-based controllers for nonlinear bilateral teleoperators with guaranteed stability properties. These schemes, which include scattering–based, damping injection and adaptive controllers, ensure asymptotic stability in multiple situations that range from constant to variable time-delays, with or without scattering transformation and with or without position tracking capabilities. Although all controllers exploit the basic property of passivity of the teleoperators, they have been developed invoking various analysis and design tools, which complicates their comparison and relative performance assessment. The objective of this paper is to present a unified theoretical framework—based on a general Lyapunov–like function—that, upon slight modification, allows to analyze the stability of all the schemes. Wed, 05 Oct 2011 13:35:34 GMT http://hdl.handle.net/2117/13433 2011-10-05T13:35:34Z Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis; Ortega, Romeo no This tutorial revisits several of the most recent passivity-based controllers for nonlinear bilateral teleoperators with guaranteed stability properties. These schemes, which include scattering–based, damping injection and adaptive controllers, ensure asymptotic stability in multiple situations that range from constant to variable time-delays, with or without scattering transformation and with or without position tracking capabilities. Although all controllers exploit the basic property of passivity of the teleoperators, they have been developed invoking various analysis and design tools, which complicates their comparison and relative performance assessment. The objective of this paper is to present a unified theoretical framework—based on a general Lyapunov–like function—that, upon slight modification, allows to analyze the stability of all the schemes. http://hdl.handle.net/2117/13058 Title: Synthesizing grasp configurations with specified contact regions Authors: Rosales Gallegos, Carlos; Ros Giralt, Lluís; Porta Pleite, Josep Maria; Suárez Feijóo, Raúl Abstract: This paper presents a new method to solve the configuration problem on robotic hands:deter- mine how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand-object contacts to be satisfied. In contrast to previous algorithms given for the same purpose, the one presented here allows specifing such contacts between free-form regions on the hand and object surfaces, and always returns a solution whenever one exists. The method is based on formulating the problem as a system of polynomial equations of special form, and then exploiting this form to isolate the solutions, using a numerical technique based on linear relaxations. The approach is general, in the sense that it can be applied to any grasping mechanism involving lower-pair joints, and it can accommodate as many hand-object contacts as required. Experi- ments are included that illustrate the performance of the method in the particular case of the Schunk Anthropomorphic hand. Wed, 27 Jul 2011 09:07:04 GMT http://hdl.handle.net/2117/13058 2011-07-27T09:07:04Z Rosales Gallegos, Carlos; Ros Giralt, Lluís; Porta Pleite, Josep Maria; Suárez Feijóo, Raúl no inverse kinematics, anthropomorphic hand, prehension, robots PARAULES AUTOR: configuration problem, precision grasp, grasp planning, grasp synthesis, contact constraint, position analysis This paper presents a new method to solve the configuration problem on robotic hands:deter- mine how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand-object contacts to be satisfied. In contrast to previous algorithms given for the same purpose, the one presented here allows specifing such contacts between free-form regions on the hand and object surfaces, and always returns a solution whenever one exists. The method is based on formulating the problem as a system of polynomial equations of special form, and then exploiting this form to isolate the solutions, using a numerical technique based on linear relaxations. The approach is general, in the sense that it can be applied to any grasping mechanism involving lower-pair joints, and it can accommodate as many hand-object contacts as required. Experi- ments are included that illustrate the performance of the method in the particular case of the Schunk Anthropomorphic hand. http://hdl.handle.net/2117/12786 Title: Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures Authors: Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Rosales Gallegos, Carlos; Pérez, Alexander Abstract: The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions and trying to mimic real human hand postures. The approach uses the concept of “principal motion directions” to reduce the dimension of the search space in order to obtain results with a compromise between motion optimality and planning complexity (time). Basically, the work includes the following phases: capturing the human hand workspace using a sensorized glove and mapping it to the mechanical hand workspace, reducing the space dimension by looking for the most relevant principal motion directions, and planning the hand movements using a probabilistic roadmap planner. The approach has been implemented for a four finger anthropomorphic mechanical hand (17 joints with 13 independent degrees of freedom) assembled on an industrial robot (6 independent degrees of freedom), and experimental examples are included to illustrate its validity. Thu, 16 Jun 2011 16:15:09 GMT http://hdl.handle.net/2117/12786 2011-06-16T16:15:09Z Rosell Gratacòs, Jan; Suárez Feijóo, Raúl; Rosales Gallegos, Carlos; Pérez, Alexander no The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions and trying to mimic real human hand postures. The approach uses the concept of “principal motion directions” to reduce the dimension of the search space in order to obtain results with a compromise between motion optimality and planning complexity (time). Basically, the work includes the following phases: capturing the human hand workspace using a sensorized glove and mapping it to the mechanical hand workspace, reducing the space dimension by looking for the most relevant principal motion directions, and planning the hand movements using a probabilistic roadmap planner. The approach has been implemented for a four finger anthropomorphic mechanical hand (17 joints with 13 independent degrees of freedom) assembled on an industrial robot (6 independent degrees of freedom), and experimental examples are included to illustrate its validity.