Mostrando ítems 1-12 de 12

Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures

Rosell, Jan; Suárez, Raúl; Rosales, Carlos; Pérez Ruíz, Alexander (SpringerEstados Unidos, 2011)

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 ...
CONTROL AUTÓNOMO DE ROBOTS DE APLICACIÓN AGRÍCOLA CON PLEXIL

Cadavid Rengifo, Héctor Fabio; Chaparro Preciado, Javier Alberto (Buenos Aires, Argentina., 2016)

Aunque el campo de la robótica no ha tenido aun gran impacto en países como Colombia, las posibilidades que ofrece para ayudar a resolver algunos de sus problemas, como el daño ambiental que está causando la agricultura ...
Development of a fabric-based soft hand exoskeleton for rehabilitation and assistance

Maldonado Mejía, Juan Camilo (Maestría en Ingeniería Electrónica, 2022)

According to the World Health Organization (WHO), stroke is the third leading cause of disability and the second leading cause of death worldwide, mainly affecting lower-middle-income countries. The upper limb, specifically ...
Development of a human- robot-environment interface for walker-assisted locomotion

Sierra Marín, Sergio David (Escuela Colombiana de Ingeniería Julio GaravitoMaestría en Ingeniería Electrónica, 2020-07-21)

In recent years, different factors have contributed to the growth of the population with disabilities, becoming an important focus of study and research worldwide. In this way, the constant work of medicine, engineering, ...
Diseño de un estudio experimental para rehabilitación de rodilla con exoesqueleto activo

Baquero Duarte, Karen Catalina (Escuela Colombiana de ingeniería Julio GaravitoIngenieríaBogotáIngeniería Biomédica, 2019)

Para el ser humano el poder realizar todas sus habilidades básicas es de vital importancia, por este motivo perder esta capacidad es algo que afecta fuertemente la vida del ser humano y que conlleva a una pérdida parcial ...
Diseño e implementación del control remoto de un robot mediante dispositivos móviles

Marín Dedios, Miguel Ángel; Saab Garzón, Abdamir (Escuela Colombiana de Ingeniería Julio GaravitoIngeniería de Sistemas, 2015)

This degree project was proposed with the purpose of introducing digital tools and important systems within the field of robotics. During 2 consecutive semesters in force, this project has been working with the purpose of ...
ECIBOT: Agente inteligente para la interacción en lenguaje natural

Alvarado, Kevin Julián; Sánchez Prieto, Kevin Snaider (Escuela Colombiana de Ingeniería Julio GaravitoIngeniería de Sistemas, 2018)

The purpose of this document is to show the reader in detail each aspect of the project ECIBOT, a conversational agent with whom you want to support the Call Center and create an additional channel of communication where ...
Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®

Aroca Trujillo, Jorge Luis; Pérez Ruiz, Alexander; Rodriguez Serrezuela, Ruthber (Hindawi LimitedEgipto., 2017)

The utility of a robot manipulator focuses on the ability to locate its end effector in a position with a determined orientation following a specified trajectory. For this, algorithms were used in order to generate and ...
Haptic aids for bilateral teleoperators

Pérez Ruíz, Alexander (SpringerSuiza, 2014)

Teleoperation of robotic tasks is usually performed in the Cartesian space due to the kinematic differences between the master and the slave. This entails several requirements, like the definition of a proper mapping ...
Motion planning for haptic guidance

Pérez Ruiz, Alexander; Rosell, Jan; Vázquez, Carlos; Iñiguez, Pedro (Springer LinkPaíses Bajos, 2008)

Haptic devices allow a user to feel either reaction forces from virtual interactions, or reaction forces reflected from a remote site during a bilateral teleoperation task. Also, guiding forces can be exerted to train the ...
Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots

Pérez, Alexander; Cadavid, Héctor; Rocha, Camilo (Springer NatureColombia, 2017)

Today’s autonomous robots are being used for complex tasks, including space exploration, military applications, and precision agriculture. As the complexity of control architectures increases, reliability of autonomous ...
A Roadmap to Robot Motion Planning Software Development

Pérez Ruiz, Alexander; Rosell, Jan (Universitat Politècnica de CatalunyaBarcelona - España, 2009)

PhD programs and graduate studies in robotics usually include motion planning among its main subjects. Students that focus their research in this subject find themselves trapped in the necessity of programming an environment ...

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Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures
...
Rosell, Jan | 2011

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.

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CONTROL AUTÓNOMO DE ROBOTS DE APLICACIÓN AGRÍCOLA CON PLEXIL
...
Cadavid Rengifo, Héctor Fabio | 2016

Aunque el campo de la robótica no ha tenido aun gran impacto en países como Colombia, las posibilidades que ofrece para ayudar a resolver algunos de sus problemas, como el daño ambiental que está causando la agricultura artesanal al medio ambiente, siguen siendo enormes. Este articulo presenta los resultados de un proyecto de investigación que busca validar posibilidad de incorporar la tecnología de control Plexil -orientada a sistemas de misión crítica- en la construcción de soluciones robóticas robustas de aplicación agrícola. Se presentan los resultados de un caso de estudio real y los productos derivados del mismo.

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Development of a fabric-based soft hand exoskeleton for rehabilitation and assistance
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Maldonado Mejía, Juan Camilo | 2022

According to the World Health Organization (WHO), stroke is the third leading cause of disability and the second leading cause of death worldwide, mainly affecting lower-middle-income countries. The upper limb, specifically the hand, is one of the most common motor disabilities following a stroke. The hand plays a vital role in performing activities of daily living (ADLs), so hand rehabilitation is essential. With technological development in recent years, soft robotics has emerged as a possible solution to provide physical and cognitive assistance during rehabilitation. This master’s thesis presents the development of two versions of a replicable hand exoskeleton for hand rehabilitation and assistance in ADLs based on soft robotics for stroke survivors, the ExHand Exoskeleton. The device is evaluated through standard functionality and usability tests on ten healthy subjects. The results demonstrate that the device satisfies the requirements of a hand exoskeleton for rehabilitation and assistance with a glove weight of 137 g and total system weight of 971 g, as well as its actuators perform a distal force of 9.18 ± 1.16 N, sufficient to grasp different objects associated with ADLs. Likewise, the person using the device can perform different daily living activities, such as writing and eating. In addition, the ExHand Exoskeleton can perform eight types of grasping with 24 objects of different shapes, sizes, textures, weights, and stiffness with 80.80% similarity to a healthy user. Also, the user satisfaction questionnaire results indicated a positive mean score of 4.27 ± 0.34 on a Likert scale ranging from 1 to 5. Finally, two surveys were conducted to evaluate the acceptance and intention of use by clinicians, showing that the device is a valuable and easy-to-use tool to support neurological patients.

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Development of a human- robot-environment interface for walker-assisted locomotion
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Sierra Marín, Sergio David | 2020-07-21

In recent years, different factors have contributed to the growth of the population with disabilities, becoming an important focus of study and research worldwide. In this way, the constant work of medicine, engineering, and robotics have led to the development of different gait assistive devices. Among these devices, smart walkers have emerged intending to provide physical and cognitive assistance during the rehabilitation process. The smart walkers are often equipped with actuators and sensory modalities that provide monitoring mechanisms and individual’s intention estimators for user interaction, as well as several control strategies for movement and assistance level control. Accordingly, this master’s thesis presents the design, development, and implementation of a Human-Robot-Environment interface in a robotic platform that emulates a smart walker, the AGoRAWalker. This interface is made up of several modules such as a navigation and people detection system, a safety system, a motion intention detection system, and a group of autonomous and shared control strategies. The functionalities of the AGoRA Walker were validated through different experiments in healthy and pathological volunteers. Likewise, usability and performance tests of the platform were carried out, finding that the AGoRA Walker can provide an intuitive and natural interaction in different rehabilitation scenarios.

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Diseño de un estudio experimental para rehabilitación de rodilla con exoesqueleto activo
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Baquero Duarte, Karen Catalina | 2019

Para el ser humano el poder realizar todas sus habilidades básicas es de vital importancia, por este motivo perder esta capacidad es algo que afecta fuertemente la vida del ser humano y que conlleva a una pérdida parcial de la calidad de vida de la persona. Para solucionar este problema, la humanidad ha desarrollado a través del tiempo diferentes formas de rehabilitación según la necesidad que tenga cada persona y según qué parte del cuerpo humano fue afectada. El grupo de investigación Gibiome del semillero de ingeniería de rehabilitación de la Escuela Colombiana de Ingeniería Julio Garavito está desarrollando diferentes investigaciones alrededor de un exoesqueleto activo de miembro inferior, el cual está diseñado para hacer parte de una plataforma de robótica ajustable para rehabilitación de marcha y asistencia (AGoRA). El exoesqueleto fue diseñado como una manera de rehabilitación para pacientes que hayan sufrido de un accidente cerebrovascular (ACV). Consta con 6 grados de libertad y está hecho en su mayor parte en duraluminio, además posee sensores, actuadores y plantillas de fuerza. Actualmente se están desarrollando tres estudios para observar la eficacia del exoesqueleto en la terapia física. Para ello se están desarrollando varias terapias para pacientes que hayan sufrido de un ACV. Una de ellas está enfocada en la rehabilitación de rodilla con exoesqueleto activo en estado estacionario, que consiste en ejercicios de flexión y extensión de la rodilla con asistencia del exoesqueleto mientras el paciente está sentado. Otra de estas terapias también está enfocada en la rehabilitación de rodilla, pero en marcha, donde el paciente usará el exoesqueleto en diferentes modos (transparencia y asistencia), mientras camina en una banda sin fin, este también se realiza en pacientes sanos con el fin de observar que el exoesqueleto no afecta los patrones normales de marcha. Estos estudios tienen unos indicadores que son los EMGs de los músculos relacionados con las actividades realizadas en la terapia, patrones de marcha, nivel de espasticidad según la escala de Ashworth (En dado caso de que sean participantes patológicos). Cada protocolo se planteó basados en el estado del arte de estudios anteriores los cuales realizaron terapias con exoesqueleto de miembro inferior y tenían indicadores para demostrar la influencia del exoesqueleto. En cada uno de estos estudios se realizaron encuestas de satisfacción, ya que la opinión del usuario es bastante importante y definitiva para identificar las ventajas y desventajas de cada estudio, y para obtener una realimentación donde se tomarán en cuenta los resultados de las encuestas para enfocarse en los puntos a mejorar. También se espera que a medida de que avancen las sesiones de terapia se vean mejoras en el paciente reflejadas en los resultados de patrones de marcha y que se vean reducidos los niveles de espasticidad.

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Diseño e implementación del control remoto de un robot mediante dispositivos móviles
...
Marín Dedios, Miguel Ángel | 2015

This degree project was proposed with the purpose of introducing digital tools and important systems within the field of robotics. During 2 consecutive semesters in force, this project has been working with the purpose of applying concepts learned mainly in the infrastructure lines. computing and also development engineering. Within the process of development and control of a device it is necessary to introduce a Raspberry Pi, this reduced plate computer will function as the main brain of the device that we want to handle.

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ECIBOT: Agente inteligente para la interacción en lenguaje natural
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Alvarado, Kevin Julián | 2018

The purpose of this document is to show the reader in detail each aspect of the project ECIBOT, a conversational agent with whom you want to support the Call Center and create an additional channel of communication where the community (students , administrative and interested in the services offered by the school) can resolve their concerns quickly and concisely.

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Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®
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Aroca Trujillo, Jorge Luis | 2017

The utility of a robot manipulator focuses on the ability to locate its end effector in a position with a determined orientation following a specified trajectory. For this, algorithms were used in order to generate and control the movements joints of robot in a synchronized way. The high-level languages to program robots are based on three types of movement: joint interpolation (MOVEJ), linear interpolation (MOVES), and circular arcs (MOVEC), which are used to develop any type of task. In this work, these three movements are implemented in the industrial controller CompactRIO, as part of the reconditioning process of a robot manipulator of five degrees of freedom (5 DOF) whose controller was obsolete. As a result, it will have an interface in LabVIEW where you can view and modify the basic parameters implemented in the industrial controller. In addition, the results of the validation tests of the joint positions and the end effector of the manipulator will be found.

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Haptic aids for bilateral teleoperators
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Pérez Ruíz, Alexander | 2014

Teleoperation of robotic tasks is usually performed in the Cartesian space due to the kinematic differences between the master and the slave. This entails several requirements, like the definition of a proper mapping between workspaces, the need to avoid collisions of the teleoperated robot with the environment, and the use of the inverse kinematics and of a procedure to correctly manage the passing through singularities. Within a bilateral teleoperation framework to teleoperate an industrial robot with a desktop haptic device, the present work proposes a guiding system based on path planning techniques to cope with these issues. The proposed system also includes a reactive behavior to cope with the potential collisions with obstacles. Teleoperation tests on virtual and real scenarios are included to validate the approach.

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Motion planning for haptic guidance
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Pérez Ruiz, Alexander | 2008

Haptic devices allow a user to feel either reaction forces from virtual interactions, or reaction forces reflected from a remote site during a bilateral teleoperation task. Also, guiding forces can be exerted to train the user in the performance of a virtual task, or to assist him to safely teleoperate a robot. The generation of guiding forces rely on the existence of a motion plan that provides the direction to be followed to reach the goal from any free configuration of the configuration space (C-space). This paper proposes a method to obtain such a plan that interleaves a sampling-based exploration of C-space with an efficient computation of harmonic functions. A deterministic sampling sequence (with a bias based on harmonic function values) is used to obtain a hierarchical cell decomposition model of C-space. An harmonic function is iteratively computed over the partially known model using a novel approach. The harmonic function is the navigation function used as motion plan. The approach has been implemented in a planner (called Kautham planner) that, given an initial and a goal configuration, it provides: a) a channel of cells connecting the cell that contains the initial configuration with the cell that contains the goal configuration; b) two harmonic functions over the whole C-space: one that guides motions towards the channel and the other that guides motions within the channel towards the goal; c) a path computed over a roadmap built with the free samples of the channel. The harmonic functions and the solution path are then used to generate the guiding forces for the haptic device. The planning approach is illustrated with examples on 2D and 3D workspaces.

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Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots
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Pérez, Alexander | 2017

Today’s autonomous robots are being used for complex tasks, including space exploration, military applications, and precision agriculture. As the complexity of control architectures increases, reliability of autonomous robots becomes more challenging to guarantee. This paper presents a hybrid control architecture, based on the Plan Execution Interchange Language ( PLEXIL ), for autonomy of wheeled robots running the Robot Operating System ( ROS ). PLEXIL is a synchronous reactive language developed by NASA for mission critical robotic systems, while ROS is one of the most popular frameworks for robotic middle-ware development. Given the safety-critical nature of spacecraft operations, PLEXIL operational semantics has been mathematically defined, and formal techniques and tools have been developed to automatically analyze plans written in this language. The hybrid control architecture proposed in this paper is showcased in a path tracking scenario using the Husky robot platform via a Gazebo simulation. Thanks to the architecture presented in this paper, all formal analysis techniques and tools currently available to PLEXIL are now available to build reliable plans for ROS -enabled wheeled robots.

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A Roadmap to Robot Motion Planning Software Development
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Pérez Ruiz, Alexander | 2009

PhD programs and graduate studies in robotics usually include motion planning among its main subjects. Students that focus their research in this subject find themselves trapped in the necessity of programming an environment where to test and validate their theoretic contributions. The programming of this robot motion planning environment is a big challenge. It requires on the one hand good programming skills involving the use of software development tools, programming paradigms, or the knowledge of computational complexity and efficiency issues. On the other hand it requires coping with different related issues like the modeling of objects, computational geometry problems and graphical representations and interfaces. The mastering of all these techniques is good for the curricula of roboticists with a motion planning profile. Nevertheless, the time and effort devoted to this end must remain reasonable. Within this framework, the aim of this paper is to provide the students with a roadmap to help them in the development of the software tools needed to test and validate their robot motion planners. The proposals are made within the scope of multi-platform open source code.

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Repositorio Digital

Listar por tema "Robotics"

Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures

CONTROL AUTÓNOMO DE ROBOTS DE APLICACIÓN AGRÍCOLA CON PLEXIL

Development of a fabric-based soft hand exoskeleton for rehabilitation and assistance

Development of a human- robot-environment interface for walker-assisted locomotion

Diseño de un estudio experimental para rehabilitación de rodilla con exoesqueleto activo

Diseño e implementación del control remoto de un robot mediante dispositivos móviles

ECIBOT: Agente inteligente para la interacción en lenguaje natural

Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®

Haptic aids for bilateral teleoperators

Motion planning for haptic guidance

Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots

A Roadmap to Robot Motion Planning Software Development

Envíos recientes

Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures

CONTROL AUTÓNOMO DE ROBOTS DE APLICACIÓN AGRÍCOLA CON PLEXIL

Development of a fabric-based soft hand exoskeleton for rehabilitation and assistance

Development of a human- robot-environment interface for walker-assisted locomotion

Diseño de un estudio experimental para rehabilitación de rodilla con exoesqueleto activo

Diseño e implementación del control remoto de un robot mediante dispositivos móviles

ECIBOT: Agente inteligente para la interacción en lenguaje natural

Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®

Haptic aids for bilateral teleoperators

Motion planning for haptic guidance

Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots

A Roadmap to Robot Motion Planning Software Development

Listar por tema "Robotics"

Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures ﻿

CONTROL AUTÓNOMO DE ROBOTS DE APLICACIÓN AGRÍCOLA CON PLEXIL ﻿

Development of a fabric-based soft hand exoskeleton for rehabilitation and assistance ﻿

Development of a human- robot-environment interface for walker-assisted locomotion ﻿

Diseño de un estudio experimental para rehabilitación de rodilla con exoesqueleto activo ﻿

Diseño e implementación del control remoto de un robot mediante dispositivos móviles ﻿

ECIBOT: Agente inteligente para la interacción en lenguaje natural ﻿

Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO® ﻿

Haptic aids for bilateral teleoperators ﻿

Motion planning for haptic guidance ﻿

Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots ﻿

A Roadmap to Robot Motion Planning Software Development ﻿

Envíos recientes

Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures

CONTROL AUTÓNOMO DE ROBOTS DE APLICACIÓN AGRÍCOLA CON PLEXIL

Development of a fabric-based soft hand exoskeleton for rehabilitation and assistance

Development of a human- robot-environment interface for walker-assisted locomotion

Diseño de un estudio experimental para rehabilitación de rodilla con exoesqueleto activo

Diseño e implementación del control remoto de un robot mediante dispositivos móviles

ECIBOT: Agente inteligente para la interacción en lenguaje natural

Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®

Haptic aids for bilateral teleoperators

Motion planning for haptic guidance

Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots

A Roadmap to Robot Motion Planning Software Development

Autonomous motion planning of a hand-arm robotic system based on captured human-like hand postures

CONTROL AUTÓNOMO DE ROBOTS DE APLICACIÓN AGRÍCOLA CON PLEXIL

Development of a fabric-based soft hand exoskeleton for rehabilitation and assistance

Development of a human- robot-environment interface for walker-assisted locomotion

Diseño de un estudio experimental para rehabilitación de rodilla con exoesqueleto activo

Diseño e implementación del control remoto de un robot mediante dispositivos móviles

ECIBOT: Agente inteligente para la interacción en lenguaje natural

Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®

Haptic aids for bilateral teleoperators

Motion planning for haptic guidance

Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots

A Roadmap to Robot Motion Planning Software Development