Recent Submissions

  • A hFSM based cognitive control architecture for assistive task in R-MIS 

    Casals Gelpi, Alicia; Sayols Baixeras, Narcís; Hernansanz Prats, Alberto (2020)
    Conference report
    Open Access
    SARAS aims to develop assistive surgical robots for laparoscopic MIS, autonomously operating in the same workspace of either a teleoperated surgical robot or a manually driven surgical tool. The auxiliary robots autonomously ...
  • Multi-task control strategy exploiting redundancy in RMIS 

    Casals Gelpi, Alicia; Hernansanz Prats, Alberto; Sayols Baixeras, Narcís; Pieras Morell, Tomas (2020)
    Conference report
    Open Access
    A single master single slave teleoperation platform was developed to assist the surgeon during Fetoscopic laser Photocoagulation. The master is composed of a 6DoF haptic device and an interactive user interface containing ...
  • Bitrack: a friendly four arms robot for laparoscopic surgery 

    Casals Gelpi, Alicia; Frigola Bourlon, Manel; Amat Girbau, Josep (2020)
    Conference report
    Open Access
    This paper presents the Bitrack system, which is a new laparoscopic surgical robot, designed at UPC, and currently undergoing the process of certification by a spin-off created for its exploitation, RSS. This new robot ...
  • Sight to touch: 3D diffeomorphic deformation recovery with mixture components for perceiving forces in robotic-assisted surgery 

    Avilés Rivero, Angélica; Alsaleh, Samar M.; Casals Gelpi, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Conference report
    Open Access
    Robotic-assisted minimally invasive surgical sys-tems suffer from one major limitation which is the lack of interaction forces feedback. The restricted sense of touch hinders the surgeons’ performance and reduces their ...
  • 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 Gelpi, Alicia (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    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 ...
  • Event-based control for sit-to-stand transition using a wearable exoskeleton 

    Rajasekaran, Vijaykumar; Vinagre Ruiz, Manuel; Aranda López, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Conference report
    Open Access
    Sit-to-stand transition is an essential step in a lower limb rehabilitation therapy, mainly for assisting the patient to transit from wheel chair to the next level of therapy. A mixed stiffness-damping control adaptation ...
  • Communication-aware consensus for frequency restoration in islanded microgrids 

    Martí Colom, Pau; Velasco García, Manel; Martín Rull, Enric Xavier; Castilla Fernández, Miguel; Miret Tomàs, Jaume; Camacho Santiago, Antonio (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Conference report
    Restricted access - publisher's policy
    MicroGrids (MGs) include spatially distributed generation (DG) systems and loads that may require operating autonomously in islanded mode. The operation of islanded MGs can benefit from consensus theory and practice, ...
  • V-ANFIS for Dealing with Visual Uncertainty for Force Estimation in Robotic Surgery 

    Avilés Rivero, Angélica Ivone; Alsaleh, Samar M.; Montseny Masip, Eduard; Casals Gelpi, Alicia (Atlantis Press, 2015)
    Conference report
    Open Access
    Accurate and robust estimation of applied forces in Robotic-Assisted Minimally Invasive Surgery is a very challenging task. Many vision-based solutions attempt to estimate the force by measuring the surface deformation ...
  • Towards estimating cardiac motion using low-rank representation and topology preservation for ultrafast ultrasound data 

    Avilés Rivero, Angélica; Widlak, Thomas; Casals Gelpi, Alicia; Ammari, Habib (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Conference report
    Restricted access - publisher's policy
    Estimation of the cardiac motion is very important in order to detect heart diseases. This work presents a cardiac motion estimation approach using ultrafast ultrasound data. We optimize a variational framework which has ...
  • Adaptive segmentation and mask-specific Sobolev inpainting of specular highlights for endoscopic images 

    Alsaleh, Samar M.; Avilés Rivero, Angélica; Sobrevilla Frisón, Pilar; Casals Gelpi, Alicia; Hahn, James K. (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Conference lecture
    Restricted access - publisher's policy
    Minimally invasive surgical and diagnostic systems rely on endoscopic images of internal organs to assist medical tasks. Specular highlights are common on those images due to the strong reflectivity of the mucus layer on ...
  • Human activity recognition from object interaction in domestic scenarios 

    Flores Vázquez, Carlos Alberto; Aranda López, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Conference report
    Open Access
    This paper presents a real time approach to the recognition of human activity based on the interaction between people and objects in domestic settings, specifically in a kitchen. Regarding the procedure, it is based on ...
  • Anticipating human activities from object interaction cues 

    Aranda López, Juan; Vinagre Ruiz, Manuel (Institute of Electrical and Electronics Engineers (IEEE), 2016)
    Conference report
    Restricted access - publisher's policy
    A real time approach to the recognition of human activity based on the interaction with objects in domestic settings is presented. It is based on capturing partial images where the activity takes place using a color camera, ...

View more