Donning/Doffing and Arm Positioning Influence in Upper Limb Adaptive Prostheses Control

[EN] New upper limb prostheses controllers are continuously being proposed in the literature. However, most of the prostheses commonly used in the real world are based on very old basic controllers. One reason to explain this reluctance to change is the lack of robustness. Traditional controllers have been validated by many users and years, so the introduction of a new controller paradigm requires a lot of strong evidence of a robust behavior. In this work, we approach the robustness against donning/doffing and arm position for recently proposed linear filter adaptive controllers based on myoelectric signals. The adaptive approach allows to introduce some feedback in a natural way in real time in the human-machine collaboration, so it is not so sensitive to input signals changes due to donning/doffing and arm movements. The average completion rate and path efficiency obtained for eight able-bodied subjects donning/doffing five times in four days is 95.83% and 84.19%, respectively, and for four participants using different arm positions is 93.84% and 88.77%, with no statistically significant difference in the results obtained for the different conditions. All these characteristics make the adaptive linear regression a potential candidate for future real world prostheses controllers.This work is partially supported by Ministerio de Educacion, Cultura y Deporte (Spain) under grant FPU15/02870. The authors would like to thank Lucas Parra for the Myo device and Janne M. Hahne for discussions about the subject of the paper.Igual, C.; Camacho-García, A.; Bernabeu Soler, EJ.; Igual García, J. (2020). Donning/Doffing and Arm Positioning Influence in Upper Limb Adaptive Prostheses Control. Applied Sciences. 10(8):1-19. https://doi.org/10.3390/app10082892S119108Esquenazi, A. (2004). 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Distance computation between non-holonomic motions with constant accelerations

A method for computing the distance between two moving robots or between a mobile robot and a dynamic obstacle with linear or arc-like motions and with constant accelerations is presented in this paper. This distance is obtained without stepping or discretizing the motions of the robots or obstacles. The robots and obstacles are modelled by convex hulls. This technique obtains the future instant in time when two moving objects will be at their minimum translational distance - i.e., at their minimum separation or maximum penetration (if they will collide). This distance and the future instant in time are computed in parallel. This method is intended to be run each time new information from the world is received and, consequently, it can be used for generating collision-free trajectories for non-holonomic mobile robots.This work was partially funded by the Spanish government CICYT projects: DPI2010-20814-C02-02, and DPI2011-28507-C02-01.Bernabeu Soler, EJ.; Valera Fernández, Á.; Gómez Moreno, J. (2013). Distance computation between non-holonomic motions with constant accelerations. International Journal of Advanced Robotic Systems. 10:1-15. doi:10.5772/56760S11510Urmson, C., Anhalt, J., Bagnell, D., Baker, C., Bittner, R., Clark, M. N., … Ferguson, D. (2008). Autonomous driving in urban environments: Boss and the Urban Challenge. Journal of Field Robotics, 25(8), 425-466. doi:10.1002/rob.20255Redon, S., Kheddar, A., & Coquillart, S. (2002). Fast Continuous Collision Detection between Rigid Bodies. Computer Graphics Forum, 21(3), 279-287. doi:10.1111/1467-8659.t01-1-00587Canny, J. (1986). Collision Detection for Moving Polyhedra. IEEE Transactions on Pattern Analysis and Machine Intelligence, PAMI-8(2), 200-209. doi:10.1109/tpami.1986.4767773Buss, S. R. (2005). Collision detection with relative screw motion. The Visual Computer, 21(1-2), 41-58. doi:10.1007/s00371-004-0269-8Fiorini, P., & Shiller, Z. (1998). Motion Planning in Dynamic Environments Using Velocity Obstacles. The International Journal of Robotics Research, 17(7), 760-772. doi:10.1177/027836499801700706Gilbert, E. G., Johnson, D. W., & Keerthi, S. S. (1988). A fast procedure for computing the distance between complex objects in three-dimensional space. IEEE Journal on Robotics and Automation, 4(2), 193-203. doi:10.1109/56.2083Bernabeu, E. J., & Tornero, J. (2002). Hough transform for distance computation and collision avoidance. IEEE Transactions on Robotics and Automation, 18(3), 393-398. doi:10.1109/tra.2002.1019476Simon, D. (2006). Optimal State Estimation. doi:10.1002/047004534

Reglas de evolución

Se indica cómo evoluciona un Grafcet, es decir cómo se ejecuta. Se basa en el disparo de transiciones.https://polimedia.upv.es/visor/?id=057f093c-0398-2d43-a957-0d8ec05de212Bernabeu Soler, EJ. (2016). Reglas de evolución. http://hdl.handle.net/10251/66932DE

Distributed Collision Avoidance Method based on Consensus among Mobile Robotic Agents

[EN] This paper presents a new methodical approach to the problem of collision avoidance of mobile robots taking advantages of multi-agents systems to deliver solutions that benefit the whole system. The proposed method has the next phases: collision detection, obstacle identification, negotiation and collision avoidance. In addition of simulations with virtual robots in a 2D and 3D space, an implementation with real mobile robots has been developed in order to validate the proposed algorithm. The robots are based on Lego NXT, and they are equipped with a ring of proximity sensors for the collisions detections. The platform for the implementation and management of the multi-agent system is JADE.This work has been partially funded by the Ministerio de Ciencia e Innovación (Spain) under research projects DPI2011-28507-C02-01 and DPI2010-20814-C02-02Soriano Vigueras, Á.; Bernabeu Soler, EJ.; Valera Fernández, Á.; Vallés Miquel, M. (2015). Distributed Collision Avoidance Method based on Consensus among Mobile Robotic Agents. International Journal of Imaging and Robotics. 15(1):80-90. http://hdl.handle.net/10251/65874S809015

Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces

[EN] This paper aims to develop an approach for the reconfiguration of a parallel kinematic manipulator (PKM) with four degrees of freedom (DoF) designed to tackle tasks of diagnosis and rehabilitation in an injured knee. The original layout of the 4-DoF manipulator presents Type-II singular configurations within its workspace. Thus, we proposed to reconfigure the manipulator for avoiding such singularities (owing to the Forward Jacobian of the PKM) during typical rehabilitation trajectories. We achieve the reconfiguration of the PKM through a minimization problem where the design variables correspond to the anchoring points of the robot limbs on fixed and mobile platforms. The objective function relies on the minimization of the forces exert by the actuators for a specific trajectory. The minimization problem considers constraints equations to avoid Type-II singularities, which guarantee the feasibility of the active generalized coordinates for a particular path. To evaluate the proposed conceptual strategy, we build a prototype where reconfiguration occurs by moving the position of the anchoring points to holes bored in the fixed and mobile platforms. Simulations and experiments of several study cases enable testing the strategy performance. The results show that the reconfiguration strategy allows obtaining trajectories having minimum actuation forces without Type-II singularities.This work was supported by the Spanish Ministry of Education, Culture and Sports through the Project for Research and Technological Development with ref. DPI2017-84201-R.Valero Chuliá, FJ.; Díaz-Rodríguez, M.; Vallés Miquel, M.; Besa Gonzálvez, AJ.; Bernabeu Soler, EJ.; Valera Fernández, Á. (2020). Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces. Mechatronics. 69:1-13. https://doi.org/10.1016/j.mechatronics.2020.102382S1136