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Dolores Blanco

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University of Cologne

Case Western Reserve University

University of Colorado, Boulder

KU Leuven

Massimiliano L Cappuccio

The University of New South Wales

Sanjay Oruganti

Rensselaer Polytechnic Institute

Asier Arias Domínguez

Universidad Complutense de Madrid

marcello frixione

University of Genova

Musabe Jean Bosco

Chongqing University of Posts and Telecommunications

Armando Marques-Guedes

UNL - New University of Lisbon

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Papers by Dolores Blanco

Initial Population Size Estimation for a Differential-Evolution-Based Global Localization Filter

International Journal of Robotics & Automation, 2014

Hoist-Based Shape Memory Alloy Actuator with Multiple Wires for High-Displacement Applications

Actuators

Shape memory alloys (SMAs) are smart materials that change their crystalline structures when subj... more Shape memory alloys (SMAs) are smart materials that change their crystalline structures when subjected to heat or tension, resulting in a macroscopic deformation. When applied to actuators, SMAs present a remarkable load–weight ratio and flexibility, making them suitable for diverse applications. However, challenges such as their energy consumption, nonlinear control, and low displacement must be considered. This paper presents a new strategy for improving the total displacement while adding neither supplementary SMA wires nor complex external devices. In addition, a novel control strategy is proposed to improve the nonlinearity of SMAs’ behavior. A hoist system was developed to linearly increase the displacement with the number of pulleys and wire turns used. The design also used parallel actuation to increase the load capacity. The actuator presented a high load capacity with reduced weight, lifting more than 100 times its own mass, with a low-cost and robust external system. The ...

A novel multi-wire SMA-based actuator with high-frequency displacement

Mechatronics, May 1, 2023

Evaluación y desempeño de los sensores Myo Armband y MindRove

Servizo de Publicacións da UDC eBooks, Sep 1, 2022

SMA-Based Soft Exo-Glove

IEEE Robotics and Automation Letters

Nowadays, robotic technologies are used in many fields, one of them is medicine. The breakthrough... more Nowadays, robotic technologies are used in many fields, one of them is medicine. The breakthrough of technologies has enabled the development of robotic devices for rehabilitation therapies. The exoskeletons can be found as robotic device for rehabilitation therapy, whose rigidity limits the user's freedom of movement, complicating his interaction with the environment in an easy and natural way. To overcome this current limitation, researchers invest effort in the development of soft devices, wearable, portable and comfortable for patients, maintaining the rigid exoskeletons performance. The soft exo-glove proposed in this work, accomplishes three main previous features. It is actuated by Shape Memory Alloys (SMA) that reduce the device weight and turn it into a portable exoskeleton. The exo-glove is easier to wear and it is comfortable. The proposed exo-glove represents a safe and adaptable solution for the human hand rehabilitation therapy with special emphasis on the activities of daily living (ADL). We are going to analyze exo-glove performance during ADL movements, e.g. gripping different objects with diverse dimensions, in which, other exoskeletons have some limitations. In terms to address this challenge, a specific position controller was designed which enables the single displacement of each finger with a linear actuator precision of 5%.

Exoesqueleto actuado por SMA para movilización de la muñeca

Actas de las XXXVII Jornadas de Automática 7, 8 y 9 de septiembre de 2016, Madrid, 2022

La mano juega un papel fundamental en la relación del ser humano con su entorno, siendo las tarea... more La mano juega un papel fundamental en la relación del ser humano con su entorno, siendo las tareas de manipulación de enorme importancia en la vida diaria. Pero la mano es una extremidad frágil, un gran número de enfermedades y trastornos musculo-esqueléticos y neurológicos derivan en la pérdida total o parcial de la movilidad de esta extremidad. De aquí la importancia de las terapias de rehabilitación dirigidas a recuperar y/o mantener su movilidad. En este artículo se presenta el diseño preliminar de un dispositivo robótico para la rehabilitación de la muñeca con 2 g.d.l., con actuadores basados en fibras de SMA (Shape Memory Alloy). Gracias a este sistema de actuación el exoesqueleto es extremadamente ligero, de actuación silenciosa y con una estructura muy simple. El número de actuadores y el diseño preliminar se han calculado a partir de la simulación del comportamiento biomecánico del cuerpo humano con un tipo específico de pacientes.

Article Kullback-Leibler Divergence-Based Differential Evolution Markov Chain Filter for Global Localization of Mobile Robots

One of the most important skills desired for a mobile robot is the ability to obtain its own loca... more One of the most important skills desired for a mobile robot is the ability to obtain its own location even in challenging environments. The information provided by the sensing system is used here to solve the global localization problem. In our previous work, we designed different algorithms founded on evolutionary strategies in order to solve the aforementioned task. The latest developments are presented in this paper. The engine of the localization module is a combination of the Markov chain Monte Carlo sampling technique and the Differential Evolution method, which results in a particle filter based on the minimization of a fitness function. The robot's pose is estimated from a set of possible locations weighted by a cost value. The measurements of the perceptive sensors are used together with the predicted ones in a known map to define a cost function to optimize. Although most localization methods rely on quadratic fitness functions, the sensed information is processed asymmetrically in this filter. The Kullback-Leibler divergence is the basis of a cost function that makes it possible to deal with different types of occlusions. The algorithm performance has been checked in a real map. The results are excellent in environments with dynamic and unmodeled obstacles, a fact that causes occlusions in the sensing area.

Usability Evaluation of SMA Based Exoskeleton: Pilot Testing in Post-stroke Patients

Biosystems & Biorobotics, 2021

Rehabilitation robotic devices are currently used with success as a complement to the physiothera... more Rehabilitation robotic devices are currently used with success as a complement to the physiotherapist task. However, this technology is still attracting the research interest because aspects such as the effectiveness of rehabilitation therapy, the cost of the device, the weight and ergonomic are only a few of aspects which can continuously be improved. This work presents the analysis and usability evaluation for elbow joint Shape Memory Alloy (SMA) based exoskeleton. This was tested and evaluated in flexion-extension movement with 10 patients with stroke and 6 physiotherapists. Firstly, the robotic device was used for data acquisition, which permitted an evaluation of the patient to define the elbow range of movement, and after, it was used in the passive mode where the patients relax the articulation and the exoskeleton executes the forearm movement in flexion-extension. After the test with the exoskeleton, the patients were asked to complete the QUEST 2.0, which permits to evaluate the usability (effectiveness, efficiency and user satisfaction with the exoskeleton).

Iso-m Based Adaptive Fractional Order Control With Application to a Soft Robotic Neck

IEEE Access, 2020

This article proposes an adaptive fractional feedback control using recursive least squares algor... more This article proposes an adaptive fractional feedback control using recursive least squares algorithm for plant identification and a recent real-time method (iso-m) for fractional controller tuning. The combination of both methods allows keeping the same original performance specifications invariant, combining adaptability and robustness in a single scheme. Thanks to the robust controller, the system performance is maintained around a specified operating point, and due to the adaptive scheme, this operating point is adjusted depending on plant changes. Extensive experimentation of the proposal is carried out in a real platform with non-linear time varying properties, a soft robotic neck made of 3D printer soft materials. The experiments proposed consist in the neck inclination control using tilt sensors installed on the tip. According to expectations, an invariant performance despite plant parameter changes was observed throughout the experiments. The good results obtained in the proposed test platform suggest that the benefits of this control scheme are suitable for other nonlinear time varying applications. INDEX TERMS Adaptive control, fractional robust control, bio-inspired neck, soft robotics.

Innovative Pressure Sensor Platform and Its Integration with an End-User Application

Sensors, 2014

This paper describes the fully integration of an innovative and low-cost pressure sensor sheet ba... more This paper describes the fully integration of an innovative and low-cost pressure sensor sheet based on a bendable and printed electronics technology. All integration stages are covered, from most low-level functional system, like physical analog sensor data acquisition, followed by embedded data processing, to end user interactive visual application. Data acquisition embedded software and hardware was developed using a Rapid Control Prototyping (RCP). Finally, after first electronic prototype successful testing, a Taylor-made electronics was developed, reducing electronics volume to 3.5 cm × 6 cm × 2 cm with a maximum power consumption of 765 mW for both electronics and pressure sensor sheet.

Shape Memory Alloy (SMA)-Based Exoskeletons for Upper Limb Rehabilitation

Rehabilitation of the Human Bone-Muscle System, 2022

This contribution presents the advances in the use of flexible Shape Memory Alloy (SMA)-based act... more This contribution presents the advances in the use of flexible Shape Memory Alloy (SMA)-based actuators for the development of upper limb rehabilitation exoskeletons that have been carried out by our research group. The actuator features developed by our research group maintain the SMA wire characteristics (low-weight, low-cost, noiseless operation, compact, and simplicity) and additionally presents the flexibility and its increase the work frequency. These characteristics make that its integration in rehabilitation exoskeletons provides the user more comfort, easy to use, and freedom of movement. The chapter describes some different rigid and soft rehabilitation exoskeletons for different joints such as the elbow, wrist, and hand in which this type of actuator has been successfully integrated. This gives the possibilities to expand the research line with the actuated soft exosuits systems, in a future development perspective.

sEMG-Based Gesture Classifier for a Rehabilitation Glove

Frontiers in Neurorobotics

Human hand gesture recognition from surface electromyography (sEMG) signals is one of the main pa... more Human hand gesture recognition from surface electromyography (sEMG) signals is one of the main paradigms for prosthetic and rehabilitation device control. The accuracy of gesture recognition is correlated with the control mechanism. In this work, a new classifier based on the Bayesian neural network, pattern recognition networks, and layer recurrent network is presented. The online results obtained with this architecture represent a promising solution for hand gesture recognition (98.7% accuracy) in sEMG signal classification. For real time classification performance with rehabilitation devices, a new simple and efficient interface is developed in which users can re-train the classification algorithm with their own sEMG gesture data in a few minutes while enables shape memory alloy-based rehabilitation device connection and control. The position of reference for the rehabilitation device is generated by the algorithm based on the classifier, which is capable of detecting user moveme...

Two-Stage Shape Memory Alloy Identification Based on the Hammerstein–Wiener Model

Frontiers in Robotics and AI, 2019

Thanks to characteristics, such as high force and light weight, a good biocompatibility, noiseles... more Thanks to characteristics, such as high force and light weight, a good biocompatibility, noiseless operation and simplicity, and relatively low-cost compared with other conventional actuators, actuators based on shape memory alloy are currently one of the most interesting research topics. They have been introduced in applications such robotics, medicine, automation, and so on. For a good actuator integration of these types of applications, proper control is needed, which seems to be a difficult task due to the hysteresis, dilatory response, and non-linear behavior. This work presents a new form of modeling of this type of actuator based on Hammerstein-Wiener model. This has been identified in two stages of the operation. When the activation temperature for the actuator is obtained by the Joule effect, electrically energy is transformed into thermal energy. In the second stage, the thermal energy is transformed into mechanical work. To fulfill this objective, experimental data [e.g., the input signal (pulse-width modulation), temperature signal, and position signal] from the two stages was obtained for a specific shape memory alloy wire and for specific environmental conditions. This data was used in the modeling process. The final model consists of a combination of the models from the two stages, which represent the behavior of the shape memory alloy actuator where the input signal is the pulse-width modulation signal and the output signal are the position of the actuator. Our results indicate that our model has a very similar response to the behavior of the real actuator. This model can be used to tune different control algorithms, simulate the entry system before manufacture and test on real devices.

Modelado De Motores Usm Para Robotica De Rehabilitacion

Learning Evolutionary Strategy for a Mobile Manipulator in Imitation Learned Tasks

2010 International Conference on Technologies and Applications of Artificial Intelligence, 2010

Page 1. Learning Evolutionary Strategy for a Mobile Manipulator in Imitation Learned Tasks César ... more

Optimal control using the Fast Marching Method

2009 35th Annual Conference of IEEE Industrial Electronics, 2009

This paper presents the applications of the Fast Marching and the Buffered Fast Marching Methods ... more This paper presents the applications of the Fast Marching and the Buffered Fast Marching Methods to solve typical control problems. Calculus of Variations and Optimal Control problems can be solved using the Euler-Lagrange or the Pontryagin equations and solving analytically or numerically the corresponding differential equations systems. The proposed method solves directly these control problems, calculating directly the control signal.

MANFRED: robot antropomórfico de servicio fiable y seguro para operar en entornos humanos

… de Ingeniería Mecánica, 2005

... DOLORES BLANCO1, SALAH AL ANSARI1, CRISTINA CASTEJÓN2, BEATRIZ LÓPEZ BOADA2, LUIS E. MORENO1 ... more

SMA Based Elbow Exoskeleton for Rehabilitation Therapy and Patient Evaluation

IEEE Access, 2019

A large number of musculoskeletal and neurological disorders can affect the upper limb limiting t... more A large number of musculoskeletal and neurological disorders can affect the upper limb limiting the subject's ability to perform activities of daily living. In recent years, rehabilitation therapies based on robotics have been proposed as complement to the work of therapists. This paper introduces a prototype of exoskeleton for the evaluation and rehabilitation therapy of the elbow joint in flexion extension and pronation-supination. The main novelty is the use of bioinspired actuators based on shape memory alloys (for the first time) in an upper limb rehabilitation exoskeleton. Because of this, the device presents a light weight, less than 1 kg, and noiseless operation, both characteristics are very beneficial for rehabilitation therapies. In addition, the prototype has been designed with low-cost electronics and materials, and the result is a wearable, comfortable, and cheap rehabilitation exoskeleton for the elbow joint. The exoskeleton can generate the joint torque (active mode) or it can be used as a passive tool. (The patient performs therapy by itself, carrying the device while it collects relevant movement data for evaluation.) The simulations and experimental tests validate the solution in the first phases of rehabilitation therapies when slow and repetitive movements are required. INDEX TERMS Antagonist control, elbow rehabilitation, exoskeleton, shape memory alloy (SMA), wearable robotics.

SMA based wrist exoskeleton for rehabilitation therapy*

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

This paper presents a rehabilitation wearable exoskeleton for wrist joint with two degrees of fre... more This paper presents a rehabilitation wearable exoskeleton for wrist joint with two degrees of freedom (DOF), flexion-extension and adduction-abduction (radial and ulnar deviation), actuated with Shape Memory Alloy (SMA) based actuators. Thanks to this type of actuators, the proposed device presents a very light weight and noiseless operation, in comparison with similar devices. The preliminary results obtained over real tests with the wrist exoskeleton are presented. This prototype demonstrates that SMA actuator technology is a viable alternative when investigating possible improvement of rehabilitation robotic devices in terms of weight, size and cost.

Flexible Shape-Memory Alloy-Based Actuator: Mechanical Design Optimization According to Application

Actuators, 2019

New robotic applications, among others, in medical and related fields, have in recent years boost... more New robotic applications, among others, in medical and related fields, have in recent years boosted research in the development of new actuators in the search for solutions that are lighter and more flexible than conventional actuators. Shape-Memory Alloy (SMA)-based actuators present characteristics that make them an excellent alternative in a wide variety of applications. This paper presents the design, tests (with the control description) and analysis of various configurations of actuators based on SMA wires: flexible SMA actuators, different mechanical design to multiply the displacement and different configurations for actuators with multiple SMA wires. The performance of the actuators has been analyzed using wires of different activation temperatures. The influence of the Bowden sheath of the flexible actuator has been tested, as has the thermal behavior of actuators with several wires. This work has allowed determination of the most effective configuration for the development...

Initial Population Size Estimation for a Differential-Evolution-Based Global Localization Filter

International Journal of Robotics & Automation, 2014

Hoist-Based Shape Memory Alloy Actuator with Multiple Wires for High-Displacement Applications

Actuators

Shape memory alloys (SMAs) are smart materials that change their crystalline structures when subj... more Shape memory alloys (SMAs) are smart materials that change their crystalline structures when subjected to heat or tension, resulting in a macroscopic deformation. When applied to actuators, SMAs present a remarkable load–weight ratio and flexibility, making them suitable for diverse applications. However, challenges such as their energy consumption, nonlinear control, and low displacement must be considered. This paper presents a new strategy for improving the total displacement while adding neither supplementary SMA wires nor complex external devices. In addition, a novel control strategy is proposed to improve the nonlinearity of SMAs’ behavior. A hoist system was developed to linearly increase the displacement with the number of pulleys and wire turns used. The design also used parallel actuation to increase the load capacity. The actuator presented a high load capacity with reduced weight, lifting more than 100 times its own mass, with a low-cost and robust external system. The ...

A novel multi-wire SMA-based actuator with high-frequency displacement

Mechatronics, May 1, 2023

Evaluación y desempeño de los sensores Myo Armband y MindRove

Servizo de Publicacións da UDC eBooks, Sep 1, 2022

SMA-Based Soft Exo-Glove

IEEE Robotics and Automation Letters

Nowadays, robotic technologies are used in many fields, one of them is medicine. The breakthrough... more Nowadays, robotic technologies are used in many fields, one of them is medicine. The breakthrough of technologies has enabled the development of robotic devices for rehabilitation therapies. The exoskeletons can be found as robotic device for rehabilitation therapy, whose rigidity limits the user's freedom of movement, complicating his interaction with the environment in an easy and natural way. To overcome this current limitation, researchers invest effort in the development of soft devices, wearable, portable and comfortable for patients, maintaining the rigid exoskeletons performance. The soft exo-glove proposed in this work, accomplishes three main previous features. It is actuated by Shape Memory Alloys (SMA) that reduce the device weight and turn it into a portable exoskeleton. The exo-glove is easier to wear and it is comfortable. The proposed exo-glove represents a safe and adaptable solution for the human hand rehabilitation therapy with special emphasis on the activities of daily living (ADL). We are going to analyze exo-glove performance during ADL movements, e.g. gripping different objects with diverse dimensions, in which, other exoskeletons have some limitations. In terms to address this challenge, a specific position controller was designed which enables the single displacement of each finger with a linear actuator precision of 5%.

Exoesqueleto actuado por SMA para movilización de la muñeca

Actas de las XXXVII Jornadas de Automática 7, 8 y 9 de septiembre de 2016, Madrid, 2022

La mano juega un papel fundamental en la relación del ser humano con su entorno, siendo las tarea... more La mano juega un papel fundamental en la relación del ser humano con su entorno, siendo las tareas de manipulación de enorme importancia en la vida diaria. Pero la mano es una extremidad frágil, un gran número de enfermedades y trastornos musculo-esqueléticos y neurológicos derivan en la pérdida total o parcial de la movilidad de esta extremidad. De aquí la importancia de las terapias de rehabilitación dirigidas a recuperar y/o mantener su movilidad. En este artículo se presenta el diseño preliminar de un dispositivo robótico para la rehabilitación de la muñeca con 2 g.d.l., con actuadores basados en fibras de SMA (Shape Memory Alloy). Gracias a este sistema de actuación el exoesqueleto es extremadamente ligero, de actuación silenciosa y con una estructura muy simple. El número de actuadores y el diseño preliminar se han calculado a partir de la simulación del comportamiento biomecánico del cuerpo humano con un tipo específico de pacientes.

Article Kullback-Leibler Divergence-Based Differential Evolution Markov Chain Filter for Global Localization of Mobile Robots

One of the most important skills desired for a mobile robot is the ability to obtain its own loca... more One of the most important skills desired for a mobile robot is the ability to obtain its own location even in challenging environments. The information provided by the sensing system is used here to solve the global localization problem. In our previous work, we designed different algorithms founded on evolutionary strategies in order to solve the aforementioned task. The latest developments are presented in this paper. The engine of the localization module is a combination of the Markov chain Monte Carlo sampling technique and the Differential Evolution method, which results in a particle filter based on the minimization of a fitness function. The robot's pose is estimated from a set of possible locations weighted by a cost value. The measurements of the perceptive sensors are used together with the predicted ones in a known map to define a cost function to optimize. Although most localization methods rely on quadratic fitness functions, the sensed information is processed asymmetrically in this filter. The Kullback-Leibler divergence is the basis of a cost function that makes it possible to deal with different types of occlusions. The algorithm performance has been checked in a real map. The results are excellent in environments with dynamic and unmodeled obstacles, a fact that causes occlusions in the sensing area.

Usability Evaluation of SMA Based Exoskeleton: Pilot Testing in Post-stroke Patients

Biosystems & Biorobotics, 2021

Rehabilitation robotic devices are currently used with success as a complement to the physiothera... more Rehabilitation robotic devices are currently used with success as a complement to the physiotherapist task. However, this technology is still attracting the research interest because aspects such as the effectiveness of rehabilitation therapy, the cost of the device, the weight and ergonomic are only a few of aspects which can continuously be improved. This work presents the analysis and usability evaluation for elbow joint Shape Memory Alloy (SMA) based exoskeleton. This was tested and evaluated in flexion-extension movement with 10 patients with stroke and 6 physiotherapists. Firstly, the robotic device was used for data acquisition, which permitted an evaluation of the patient to define the elbow range of movement, and after, it was used in the passive mode where the patients relax the articulation and the exoskeleton executes the forearm movement in flexion-extension. After the test with the exoskeleton, the patients were asked to complete the QUEST 2.0, which permits to evaluate the usability (effectiveness, efficiency and user satisfaction with the exoskeleton).

Iso-m Based Adaptive Fractional Order Control With Application to a Soft Robotic Neck

IEEE Access, 2020

This article proposes an adaptive fractional feedback control using recursive least squares algor... more This article proposes an adaptive fractional feedback control using recursive least squares algorithm for plant identification and a recent real-time method (iso-m) for fractional controller tuning. The combination of both methods allows keeping the same original performance specifications invariant, combining adaptability and robustness in a single scheme. Thanks to the robust controller, the system performance is maintained around a specified operating point, and due to the adaptive scheme, this operating point is adjusted depending on plant changes. Extensive experimentation of the proposal is carried out in a real platform with non-linear time varying properties, a soft robotic neck made of 3D printer soft materials. The experiments proposed consist in the neck inclination control using tilt sensors installed on the tip. According to expectations, an invariant performance despite plant parameter changes was observed throughout the experiments. The good results obtained in the proposed test platform suggest that the benefits of this control scheme are suitable for other nonlinear time varying applications. INDEX TERMS Adaptive control, fractional robust control, bio-inspired neck, soft robotics.

Innovative Pressure Sensor Platform and Its Integration with an End-User Application

Sensors, 2014

This paper describes the fully integration of an innovative and low-cost pressure sensor sheet ba... more This paper describes the fully integration of an innovative and low-cost pressure sensor sheet based on a bendable and printed electronics technology. All integration stages are covered, from most low-level functional system, like physical analog sensor data acquisition, followed by embedded data processing, to end user interactive visual application. Data acquisition embedded software and hardware was developed using a Rapid Control Prototyping (RCP). Finally, after first electronic prototype successful testing, a Taylor-made electronics was developed, reducing electronics volume to 3.5 cm × 6 cm × 2 cm with a maximum power consumption of 765 mW for both electronics and pressure sensor sheet.

Shape Memory Alloy (SMA)-Based Exoskeletons for Upper Limb Rehabilitation

Rehabilitation of the Human Bone-Muscle System, 2022

This contribution presents the advances in the use of flexible Shape Memory Alloy (SMA)-based act... more This contribution presents the advances in the use of flexible Shape Memory Alloy (SMA)-based actuators for the development of upper limb rehabilitation exoskeletons that have been carried out by our research group. The actuator features developed by our research group maintain the SMA wire characteristics (low-weight, low-cost, noiseless operation, compact, and simplicity) and additionally presents the flexibility and its increase the work frequency. These characteristics make that its integration in rehabilitation exoskeletons provides the user more comfort, easy to use, and freedom of movement. The chapter describes some different rigid and soft rehabilitation exoskeletons for different joints such as the elbow, wrist, and hand in which this type of actuator has been successfully integrated. This gives the possibilities to expand the research line with the actuated soft exosuits systems, in a future development perspective.

sEMG-Based Gesture Classifier for a Rehabilitation Glove

Frontiers in Neurorobotics

Human hand gesture recognition from surface electromyography (sEMG) signals is one of the main pa... more Human hand gesture recognition from surface electromyography (sEMG) signals is one of the main paradigms for prosthetic and rehabilitation device control. The accuracy of gesture recognition is correlated with the control mechanism. In this work, a new classifier based on the Bayesian neural network, pattern recognition networks, and layer recurrent network is presented. The online results obtained with this architecture represent a promising solution for hand gesture recognition (98.7% accuracy) in sEMG signal classification. For real time classification performance with rehabilitation devices, a new simple and efficient interface is developed in which users can re-train the classification algorithm with their own sEMG gesture data in a few minutes while enables shape memory alloy-based rehabilitation device connection and control. The position of reference for the rehabilitation device is generated by the algorithm based on the classifier, which is capable of detecting user moveme...

Two-Stage Shape Memory Alloy Identification Based on the Hammerstein–Wiener Model

Frontiers in Robotics and AI, 2019

Thanks to characteristics, such as high force and light weight, a good biocompatibility, noiseles... more Thanks to characteristics, such as high force and light weight, a good biocompatibility, noiseless operation and simplicity, and relatively low-cost compared with other conventional actuators, actuators based on shape memory alloy are currently one of the most interesting research topics. They have been introduced in applications such robotics, medicine, automation, and so on. For a good actuator integration of these types of applications, proper control is needed, which seems to be a difficult task due to the hysteresis, dilatory response, and non-linear behavior. This work presents a new form of modeling of this type of actuator based on Hammerstein-Wiener model. This has been identified in two stages of the operation. When the activation temperature for the actuator is obtained by the Joule effect, electrically energy is transformed into thermal energy. In the second stage, the thermal energy is transformed into mechanical work. To fulfill this objective, experimental data [e.g., the input signal (pulse-width modulation), temperature signal, and position signal] from the two stages was obtained for a specific shape memory alloy wire and for specific environmental conditions. This data was used in the modeling process. The final model consists of a combination of the models from the two stages, which represent the behavior of the shape memory alloy actuator where the input signal is the pulse-width modulation signal and the output signal are the position of the actuator. Our results indicate that our model has a very similar response to the behavior of the real actuator. This model can be used to tune different control algorithms, simulate the entry system before manufacture and test on real devices.

Modelado De Motores Usm Para Robotica De Rehabilitacion

Learning Evolutionary Strategy for a Mobile Manipulator in Imitation Learned Tasks

2010 International Conference on Technologies and Applications of Artificial Intelligence, 2010

Page 1. Learning Evolutionary Strategy for a Mobile Manipulator in Imitation Learned Tasks César ... more

Optimal control using the Fast Marching Method

2009 35th Annual Conference of IEEE Industrial Electronics, 2009

This paper presents the applications of the Fast Marching and the Buffered Fast Marching Methods ... more This paper presents the applications of the Fast Marching and the Buffered Fast Marching Methods to solve typical control problems. Calculus of Variations and Optimal Control problems can be solved using the Euler-Lagrange or the Pontryagin equations and solving analytically or numerically the corresponding differential equations systems. The proposed method solves directly these control problems, calculating directly the control signal.

MANFRED: robot antropomórfico de servicio fiable y seguro para operar en entornos humanos

… de Ingeniería Mecánica, 2005

... DOLORES BLANCO1, SALAH AL ANSARI1, CRISTINA CASTEJÓN2, BEATRIZ LÓPEZ BOADA2, LUIS E. MORENO1 ... more

SMA Based Elbow Exoskeleton for Rehabilitation Therapy and Patient Evaluation

IEEE Access, 2019

A large number of musculoskeletal and neurological disorders can affect the upper limb limiting t... more A large number of musculoskeletal and neurological disorders can affect the upper limb limiting the subject's ability to perform activities of daily living. In recent years, rehabilitation therapies based on robotics have been proposed as complement to the work of therapists. This paper introduces a prototype of exoskeleton for the evaluation and rehabilitation therapy of the elbow joint in flexion extension and pronation-supination. The main novelty is the use of bioinspired actuators based on shape memory alloys (for the first time) in an upper limb rehabilitation exoskeleton. Because of this, the device presents a light weight, less than 1 kg, and noiseless operation, both characteristics are very beneficial for rehabilitation therapies. In addition, the prototype has been designed with low-cost electronics and materials, and the result is a wearable, comfortable, and cheap rehabilitation exoskeleton for the elbow joint. The exoskeleton can generate the joint torque (active mode) or it can be used as a passive tool. (The patient performs therapy by itself, carrying the device while it collects relevant movement data for evaluation.) The simulations and experimental tests validate the solution in the first phases of rehabilitation therapies when slow and repetitive movements are required. INDEX TERMS Antagonist control, elbow rehabilitation, exoskeleton, shape memory alloy (SMA), wearable robotics.

SMA based wrist exoskeleton for rehabilitation therapy*

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

This paper presents a rehabilitation wearable exoskeleton for wrist joint with two degrees of fre... more This paper presents a rehabilitation wearable exoskeleton for wrist joint with two degrees of freedom (DOF), flexion-extension and adduction-abduction (radial and ulnar deviation), actuated with Shape Memory Alloy (SMA) based actuators. Thanks to this type of actuators, the proposed device presents a very light weight and noiseless operation, in comparison with similar devices. The preliminary results obtained over real tests with the wrist exoskeleton are presented. This prototype demonstrates that SMA actuator technology is a viable alternative when investigating possible improvement of rehabilitation robotic devices in terms of weight, size and cost.

Flexible Shape-Memory Alloy-Based Actuator: Mechanical Design Optimization According to Application

Actuators, 2019

New robotic applications, among others, in medical and related fields, have in recent years boost... more New robotic applications, among others, in medical and related fields, have in recent years boosted research in the development of new actuators in the search for solutions that are lighter and more flexible than conventional actuators. Shape-Memory Alloy (SMA)-based actuators present characteristics that make them an excellent alternative in a wide variety of applications. This paper presents the design, tests (with the control description) and analysis of various configurations of actuators based on SMA wires: flexible SMA actuators, different mechanical design to multiply the displacement and different configurations for actuators with multiple SMA wires. The performance of the actuators has been analyzed using wires of different activation temperatures. The influence of the Bowden sheath of the flexible actuator has been tested, as has the thermal behavior of actuators with several wires. This work has allowed determination of the most effective configuration for the development...