Now showing items 1-20 of 68

    • A Cloud robotics architecture to foster individual child partnership in medical facilities 

      Navarro, Joan; Sancho-Asensio, Andreu; Garriga, Carles; Albo-Canals, J.; Ortiz-Villajos Maroto, Julio; Raya Giner, Cristóbal; Angulo Bahón, Cecilio; Miralles, David (2013)
      Conference report
      Open Access
      Robots and automation systems have become a valuable partner in several facets of human life: from learning and teaching, to daily working, including health monitoring and assistance. So far, these appealing robot-based ...
    • A physical/virtual anatomical platform for hysteroscopy training 

      Rovira Negre, Ramón; Martínez, R.; Hernansanz Prats, Alberto; Casals Gelpi, Alicia (Università degli Studi di Genova, 2019)
      Conference report
      Open Access
      Minimally Invasive Surgery (MIS), which consists in operating through small orifices, reduces the patients’ pain, complications, recovery time and scarring. However, while providing many benefits, the skills required in ...
    • A recurrent convolutional neural network approach for sensorless force estimation in robotic surgery 

      Marbán González, Arturo; Srinivasan, Vignesh; Samek, Wojciech; Fernández Ruzafa, José; Casals Gelpi, Alicia (2019-04)
      Article
      Restricted access - publisher's policy
      Providing force feedback as relevant information in current Robot-Assisted Minimally Invasive Surgery systems constitutes a technological challenge due to the constraints imposed by the surgical environment. In this context, ...
    • Adaptive walking assistance based on human-orthosis interaction 

      Rajasekaran, Vijaykumar; Aranda López, Juan; Casals Gelpi, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Conference report
      Open Access
      An assistive rehabilitation strategy for a lower-limb wearable robot is proposed and evaluated. The control strategy monitors the human-orthosis interaction torques and modifies the orthosis operation mode depending on its ...
    • An adaptive control strategy for postural stability using a wearable robot 

      Rajasekaran, Vijaykumar; Aranda López, Juan; Casals Gelpi, Alicia; Pons, Jose Luis (2015-11)
      Article
      Open Access
      Wearable robots are expected to expand the use of robotics in rehabilitation since they can widen the assistance application context. An important aspect of a rehabilitation therapy, in terms of lower extremity assistance, ...
    • An approach for physiological motion compensation in robotic-assisted cardiac surgery 

      Avilés Rivero, Angélica Ivone; Sobrevilla Frisón, Pilar; Casals Gelpi, Alicia (2014-11-14)
      Article
      Open Access
      The lack of physiological motion compensation is a major problem in robotic-assisted cardiac surgery. Since the heart is beating while the surgeon carried out the procedure, dexterity of the surgeon’s and precision are ...
    • Aplicació per a la supervisió d'un robot per a anàlisis clíniques 

      Chico Forga, Francisco (Universitat Politècnica de Catalunya, 2009-01-15)
      Master thesis (pre-Bologna period)
      Open Access
      El objetivo del proyecto presentado en estas memorias consiste en analizar, diseñar e implementar una interficie que haga cómodo, intuitivo y fácil el proceso de preparación demuestras analíticas utilizando la técnica IFA.
    • 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 ...
    • Autoadaptive neurorehabilitation robotic system assessment with a post-stroke patient 

      Morales Vidal, Ricardo; Badesa Clemente, Francisco Javier; García Aracil, Nicolás; Aranda López, Juan; Casals Gelpi, Alicia (2015-01-01)
      Article
      Restricted access - publisher's policy
      This paper presents a new rehabilitation system that is able to adapt its performance to patient's psychophysiological state during the execution of robotic rehabilitation tasks. Using this approach, the motivation and ...
    • 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. ...
    • Brazo articulado de parámetros XYZ 

      Martín Cuadern, Juan Miguel (Universitat Politècnica de Catalunya, 2011-01-12)
      Master thesis (pre-Bologna period)
      Open Access
      La robòtica en els darrers anys ha aconseguit un lloc important en la indústria moderna, i actualment els robots industrials, eines imprescindibles per al funcionament i progrés de moltes indústries. Gràcies a l'àmplia ...
    • Compliant gait assistance triggered by user intention 

      Rajasekaran, Vijaykumar; Aranda López, Juan; Casals Gelpi, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2015)
      Conference report
      Open Access
      An automatic gait initialization strategy based on user intention sensing in the context of rehabilitation with a lower-limb wearable robot is proposed and evaluated. The proposed strategy involves monitoring the human-orthosis ...
    • 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 ...
    • Control of an ambulatory exoskeleton with a brain–machine interface for spinal cord injury gait rehabilitation 

      López Larraz, Eduardo; Trincado Alonso, Fernando; Rajasekaran, Vijaykumar; Pérez Nombela, Soraya; Ama, Antonio J. del; Aranda López, Juan; Minguez, Javier; Gil Agudo, Angel; Montesano Del Campo, Luis (2016-08-03)
      Article
      Open Access
      The closed-loop control of rehabilitative technologies by neural commands has shown a great potential to improve motor recovery in patients suffering from paralysis. Brain–machine interfaces (BMI) can be used as a natural ...
    • Desarrollo de una prótesis robótica 'trans-humeral' controlada mediante el movimiento de la extremidad opuesta 

      Rosado Torrabadella, Jaume (Universitat Politècnica de Catalunya, 2017-06-10)
      Bachelor thesis
      Restricted access - author's decision
    • 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 ...
    • Design of a robotic hand and simple EMG input controller with a biologically-inspired parallel actuation system for prosthetic applications 

      Crawford, Anthony; Molitor, Jeffrey; Pérez Gracia, Alba; Chiu, Steve (2010)
      Conference report
      Open Access
      This paper presents the mechatronic design of a robotic hand for prosthetic applications. The main characteristic of this robotic hand is its biologically-inspired parallel actuation system, which is based on the ...
    • Detection of motion intention algorithm based on the center of pressure for a lower limb exoskeleton. 

      Llebaria I Fabriàs, Albert (Universitat Politècnica de Catalunya, 2019-09-20)
      Master thesis
      Restricted access - author's decision
      Covenantee:   École polytechnique fédérale de Lausanne
      The goal of the thesis is to develop and implement a detection of motion intention (DoI) algorithm to assist walk for the Autonomyo exoskeleton. The used parameters are the net CoP position and velocity and the vertical ...
    • 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 Gelpi, Alicia; Minguez, Javier (Institute of Electrical and Electronics Engineers (IEEE), 2012)
      Conference report
      Restricted access - publisher's policy
      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 ...
    • Development of a 2DOF robotic device for hand rehabilitation 

      Font, Francisco José (Universitat Politècnica de Catalunya / Eidegenössische Technische Hochschule Zürich, 2011)
      Master thesis (pre-Bologna period)
      Open Access
      Most of the stroke survivors lose hand and arm skill which can be partially recovered through intensive rehabilitation. Studies show that robot-assisted rehabilitation is e ective, providing a more motivating environment ...