Now showing items 1-20 of 20

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

      Hernansanz Prats, Alberto; Casals Gelpi, Alicia; Amat Girbau, Josep (2015-06-01)
      Article
      Open Access
      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 ...
    • Assistance strategies for robotized laparoscopy 

      Casals Gelpi, Alicia; Hernansanz Prats, Alberto; Sayols Baixeras, Narcís; Amat Girbau, Josep (Springer, 2020)
      Part of book or chapter of book
      Open Access
      Robotizing laparoscopic surgery not only allows achieving better accuracy to operate when a scale factor is applied between master and slave or thanks to the use of tools with 3 DoF, which cannot be used in conventional ...
    • Automatic guidance of and assistant robot in laparoscopic surgery 

      Casals Gelpi, Alicia; Amat Girbau, Josep; Laporte, Enric (Institute of Electrical and Electronics Engineers (IEEE), 1996)
      Conference report
      Open Access
      A robotic arm which automatically guides the camera in the laparoscopic surgery is presented. The goal of this work is to generate adequate camera control strategies to track the working scene during a surgical procedure. ...
    • Components electrònics 

      Amat Girbau, Josep (Asociación de Técnicos de Informática, 1980)
      Article
      Open Access
    • Control de robots en neurorehabilitación: desde sensores neurales a sensores portables 

      Casals Gelpi, Alicia; Aranda López, Juan; Muñoz Morgado, Luis Miguel; Vinagre Ruiz, Manuel; Martínez Velasco, Antonio Benito; Jané Campos, Raimon; Amat Girbau, Josep (2017-07-06)
      External research report
      Open Access
      Las interfaces BCI tienen ya un cierto grado de desarrollo en el ámbito del diagnóstico y de la interacción persona-computador, sin embargo su aplicación al control de dispositivos robóticos está todavía muy limitado debido ...
    • 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 ...
    • Memòries 

      Amat Girbau, Josep; Ferrer, F. (Asociación de Técnicos de Informática, 1980)
      Article
      Open Access
    • 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 ...
    • New technologies in surgery 

      Casals Gelpi, Alicia; Sayols Baixeras, Narcís; Amat Girbau, Josep (Springer, 2017)
      Conference report
      Restricted access - publisher's policy
      The progress of technology and robotics in industry has not yield to an equivalent development in the medical field. This paper analyses surgical proce-dures from the point of view of industrial processes looking for ...
    • Objects classification system by visual perception 

      Amat Girbau, Josep; Ferrer, F. (Universidad Nacional Autónoma de México, 1981)
      Conference lecture
      Open Access
      The quality control by visual perception maybe done by processing the information obtained from a TV camera by mean of a computer. In the most simple cases, the computer can by substituted by a microcomputer and a specialized ...
    • 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 ...
    • Plataforma para un entorno asistencial inteligente heterogéneo 

      Casals Gelpi, Alicia; Vinagre Ruiz, Manuel; Aranda López, Juan; Amat Girbau, Josep (Comité Español de Automática (CEA-IFAC), 2018)
      Conference report
      Open Access
      La creciente demanda de soporte tecnológico para la asistencia a personas con necesidades especiales obliga a avanzar tecnológi-camente hacia sistemas más eficientes y con más prestaciones. En esta íinea, en este artículo ...
    • 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 ...
    • Vision based robot assistance in TTTS fetal surgery 

      Sayols Baixeras, Narcís; Hernansanz Prats, Alberto; Parra Hernández, Johanna; Eixarch Roca, Elisenda; Gratacós Solsona, Eduard; Amat Girbau, Josep; Casals Gelpi, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2019)
      Conference report
      Open Access
      This paper presents an accurate and robust tracking vision algorithm for Fetoscopic Laser Photo-coagulation (FLP) surgery for Twin-Twin Transfusion Syndrome (TTTS). The aim of the proposed method is to assist surgeons ...