31 results on '"Romero Sánchez, Francisco"'
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2. Transmission and actuation systems in cable-driven, walking-assistance exosuits based on postural and dynamic synergies
- Author
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Rodríguez-Jorge, Daniel, Romero-Sánchez, Francisco, Rodríguez Salgado, David, and González, Alfonso González
- Published
- 2023
- Full Text
- View/download PDF
3. Editorial: Rehabilitation robotics: challenges in design, control, and real applications, volume II
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Romero-Sánchez, Francisco, primary, Menegaldo, Luciano Luporini, additional, Font-Llagunes, Josep M., additional, and Sartori, Massimo, additional
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- 2024
- Full Text
- View/download PDF
4. Development of a wearable exoskeleton (exosuit) for lower limb assistance based on simulations
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Romero Sánchez, Francisco, Universidad de Sevilla. Departamento de Ingeniería Mecánica y de Fabricación, Bermejo García, javier, Romero Sánchez, Francisco, Universidad de Sevilla. Departamento de Ingeniería Mecánica y de Fabricación, and Bermejo García, javier
- Abstract
In the upcoming years, there will be a significant increase in the world’s older adult population. This demographic shift, combined with rising cases of spinal cord injuries, stroke or cerebral palsy, will result in a greater number of individuals affected by walking-related conditions. Therefore, the development of assistive walking devices is essential to enhance the autonomy of people with reduced mobility. Generally, the design of customised devices for each pathology is complex and expensive. This means that the need to use tools that facilitate the selection of the number of actuators providing external assistance to reduce the manufacturing costs of these devices and simplifying their usability for patients are essential objectives. Under this premise, this doctoral thesis presents the framework to analyse and simulate gait using a cable-assisted exoskeleton (Exosuit) to support the gait of older adults. For customizing the device, a study of the main differences between the gait patterns of young adults and older adults is carried out. For the design of the exosuit, a study of the effect on the neuromuscular system is proposed through the simulation of cable-assisted gait. These simulations provide information on how muscle activations vary during assisted gait based on inverse dynamic analysis and dynamic optimization. The results obtained in this doctoral thesis have allowed for a preliminary design of a functional prototype of an exosuit for walking assistance within the context of the National and Regional Research Projects in which this thesis has been developed. The proposed methodologies have been used to design a wearable exoskeleton to assist in walking for the elderly., En los próximos años se producirá un aumento significativo de la población mundial de adultos mayores. Este cambio demográfico, combinado con el aumento de casos de lesiones medulares, derrames cerebrales o parálisis cerebral, se traducirá en un mayor número de personas afectadas por dolencias relacionadas con la marcha. Por tanto, el desarrollo de dispositivos de asistencia a la marcha es esencial para mejorar la autonomía de las personas con movilidad reducida. Por lo general, el diseño de dispositivos personalizados para cada patología es complejo y costoso. Por ello, la necesidad de utilizar herramientas que faciliten la selección del número de actuadores que proporcionan asistencia externa para reducir los costes de fabricación de estos dispositivos y simplificar su usabilidad para los pacientes son objetivos esenciales. Bajo esta premisa, esta tesis doctoral presenta el marco para analizar y simular la marcha utilizando un exoesqueleto asistido por cable (Exosuit) para dar soporte a la marcha de personas mayores. Para la personalización del dispositivo, se realiza un estudio de las principales diferencias entre los patrones de marcha de los adultos jóvenes y los adultos mayores. Para el diseño del exosuit, se propone un estudio del efecto sobre el sistema neuromuscular mediante la simulación de la marcha asistida por cable. Estas simulaciones proporcionan información sobre cómo varían las activaciones musculares durante la marcha asistida a partir del análisis dinámico inverso y la optimización dinámica. Los resultados obtenidos en esta tesis doctoral han permitido el diseño preliminar de un prototipo funcional de exosuit para la asistencia a la marcha en el contexto de los Proyectos de Investigación Nacional y Regional en los que se ha desarrollado esta tesis. Las metodologías propuestas se han utilizado para diseñar un exoesqueleto wearable de asistencia a la marcha para personas mayores.
- Published
- 2024
5. Sensing and Control Strategies for a Synergy-Based, Cable-Driven Exosuit via a Modular Test Bench
- Author
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Jayakumar, Ashwin, primary, Rodríguez Jorge, Daniel, additional, Bermejo-García, Javier, additional, Agujetas, Rafael, additional, and Romero-Sánchez, Francisco, additional
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- 2023
- Full Text
- View/download PDF
6. Design, Control, and Assessment of a Synergy-Based Exosuit for Patients with Gait-Associated Pathologies.
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Jayakumar, Ashwin, Bermejo-García, Javier, Rodríguez Jorge, Daniel, Agujetas, Rafael, Romero-Sánchez, Francisco, and Alonso-Sánchez, Francisco J.
- Subjects
KNEE ,ROBOTIC exoskeletons ,PATHOLOGY ,REHABILITATION technology ,ANIMAL exoskeletons ,ANKLE - Abstract
With ever-rising population comes a corresponding rise in people with mobility issues who have difficulty handling tasks in their daily lives. Such persons could benefit significantly from an active movement assistance device. This paper presents the design of a lower-limb exosuit designed to provide the wearer with useful gait assistance. While exoskeletons have existed for a while, soft exoskeletons or exosuits are relatively new. One challenge in the design of a gait-assistance device is the reduction of device weight. In order to facilitate this, the concept of kinematic synergies is implemented to reduce the number of actuators. In this prototype, the exosuit can actuate the hip, ankle, and knee of both legs using just one single motor, and a transmission system consisting of gears and clutches. The implementation of these synergies and their advantages are detailed in this paper, as well as preliminary tests to assess performance. This was performed by testing the exosuit worn by a subject on a treadmill while taking EMG readings and measuring cable tension produced. Significant reductions by up to 35% in certain muscle activations were observed, demonstrating the validity of this prototype for gait assistance. [ABSTRACT FROM AUTHOR]
- Published
- 2023
- Full Text
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7. Actuation Strategies for a Wearable Cable-Driven Exosuit Based on Synergies in Younger and Older Adults
- Author
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Bermejo-García, Javier, primary, Rodríguez Jorge, Daniel, additional, Romero-Sánchez, Francisco, additional, Jayakumar, Ashwin, additional, and Alonso-Sánchez, Francisco J., additional
- Published
- 2022
- Full Text
- View/download PDF
8. Editorial: Rehabilitation robotics: Challenges in design, control, and real applications
- Author
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Romero-Sánchez, Francisco, primary, Luporini Menegaldo, Luciano, additional, Font-Llagunes, Josep M., additional, and Sartori, Massimo, additional
- Published
- 2022
- Full Text
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9. Force and Torque Characterization in the Actuation of a Walking-Assistance, Cable-Driven Exosuit
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Rodríguez Jorge, Danie, primary, Bermejo García, Javier, additional, Jayakumar, Ashwin, additional, Lorente Moreno, Rafael, additional, Agujetas Ortiz, Rafael, additional, and Romero Sánchez, Francisco, additional
- Published
- 2022
- Full Text
- View/download PDF
10. Editorial: Rehabilitation robotics: Challenges in design, control, and real applications
- Author
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Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica, Universitat Politècnica de Catalunya. TecSalut - Grup de Recerca en Tecnologies de la Salut, Romero Sánchez, Francisco, Luporini Menegaldo, Luciano, Font Llagunes, Josep Maria, Sartori, Massimo, Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica, Universitat Politècnica de Catalunya. TecSalut - Grup de Recerca en Tecnologies de la Salut, Romero Sánchez, Francisco, Luporini Menegaldo, Luciano, Font Llagunes, Josep Maria, and Sartori, Massimo
- Abstract
In the last decade, research focused on rehabilitation robotics has progressed from proposing restricted or rigid solutions in a clinical setting to portable devices compliant with the user and also adapted to the their requirements, based on their disability and the rehabilitation training program. Novel techniques have inspired the evolution of rehabilitation devices from hard and bulky to soft, lightweight, and fully wearable. For example, biologically inspired actuators have relaxed the constraint of having to rely on rigid supports, as the skeletal system can be used to that end. Furthermore, the use of synergies havehas led to a reduction of in the number of actuators and improved their control. Moreover, the latest advances in modeling and simulation have allowed for assessing and compensating for fatigue, as well as simulating the use of assistive devices out of aclinical environment. All these research achievements have enabled anew generation of portable rehabilitation devices. In the present Frontiers Research Topic, novel techniques for the design, simulation, sensing, and control of rehabilitation devices are presented for rehabilitation devices such as powered exoskeletons, neuroprostheses, and equipment for moving the rehabilitation environment out of the clinical setting., Peer Reviewed, Objectius de Desenvolupament Sostenible::3 - Salut i Benestar, Postprint (published version)
- Published
- 2022
11. Actuation Strategies for a Wearable Cable-Driven Exosuit Based on Synergies in Younger and Older Adults.
- Author
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Bermejo-García, Javier, Rodríguez Jorge, Daniel, Romero-Sánchez, Francisco, Jayakumar, Ashwin, and Alonso-Sánchez, Francisco J.
- Subjects
ANKLE ,OLDER people ,SCIENTIFIC literature ,ANKLE joint ,GAIT in humans ,WALKING speed - Abstract
Older adults (aged 55 years and above) have greater difficulty carrying out activities of daily living than younger adults (aged 25–55 years). Although age-related changes in human gait kinetics are well documented in qualitative terms in the scientific literature, these differences may be quantified and analyzed using the analysis of motor control strategies through kinetic synergies. The gaits of two groups of people (older and younger adults), each with ten members, were analyzed on a treadmill at a constant controlled speed and their gait kinetics were recorded. The decomposition of the kinetics into synergies was applied to the joint torques at the hip, knee, and ankle joints. Principal components determined the similarity of the kinetic torques in the three joints analyzed and the effect of the walking speed on the coordination pattern. A total of three principal components were required to describe enough information with minimal loss. The results suggest that the older group showed a change in coordination strategy compared to that of the younger group. The main changes were related to the ankle and hip torques, both showing significant differences (p-value < 0.05 ) between the two groups. The findings suggest that the differences between the gait patterns of the two groups were closely related to a reduction in ankle torque and an increase in hip torque. This change in gait pattern may affect the rehabilitation strategy used when designing general-purpose rehabilitation devices or rehabilitation/training programs for the elderly. [ABSTRACT FROM AUTHOR]
- Published
- 2023
- Full Text
- View/download PDF
12. El turismo escolar en España y en Italia: origen y análisis del viaje de estudios
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Romero Sánchez, Francisco, primary
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- 2020
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13. Advances in Orthotic and Prosthetic Manufacturing: A Technology Review
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Barrios-Muriel, Jorge, primary, Romero-Sánchez, Francisco, additional, Alonso-Sánchez, Francisco Javier, additional, and Rodríguez Salgado, David, additional
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- 2020
- Full Text
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14. Diseño y simulación de un sistema de iluminación natural energéticamente eficiente de una planta industrial dedicada a la fabricación de estibas y carpintería
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Romero Sánchez, Francisco Javier
- Subjects
INGENIERIA DE LA CONSTRUCCION ,Eficiencia energética ,Iluminación natural ,Energy efficiency ,Natural lighting ,Grado en Ingeniería en Tecnologías Industriales-Grau en Enginyeria en Tecnologies Industrials - Abstract
[ES] En el presente trabajo se diseña un sistema pasivo de instalaciones, basado en iluminación natural, en las edificaciones de una planta industrial, dedicada a la fabricación de estibas y carpintería. Contiene la justificación de la propuesta técnica así como el estudio, análisis y determinación de sus limitaciones en la eficiencia energética de la planta. Incluirá la simulación de los sistemas de iluminación natural en los diferentes locales del sector productivo, así como la estimación, mediante software específico, de los niveles de iluminación en los planos de trabajo, coeficientes de uniformidad e índices de eficiencia energética de los diferentes locales., [EN] In the present work a passive system of facilities is designed, based on natural lighting, in the buildings of an industrial plant, dedicated to the manufacture of pallets and carpentry. It contains the justification for the technical proposal as well as the study, analysis and determination of its limitations in the energy efficiency of the plant. It will include the simulation of natural lighting systems in the different areas of the productive sector, as well as the estimation, through specific software, of the levels of illumination in the work planes, uniformity coefficients and energy efficiency indices of the different premises.
- Published
- 2019
15. Diseño y simulación de un sistema de iluminación natural energéticamente eficiente de una planta industrial dedicada a la fabricación de estibas y carpintería
- Author
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Santamarina Siurana, Mª Cristina, Universitat Politècnica de València. Departamento de Ingeniería de la Construcción y de Proyectos de Ingeniería Civil - Departament d'Enginyeria de la Construcció i de Projectes d'Enginyeria Civil, Universitat Politècnica de València. Escuela Técnica Superior de Ingenieros Industriales - Escola Tècnica Superior d'Enginyers Industrials, Romero Sánchez, Francisco Javier, Santamarina Siurana, Mª Cristina, Universitat Politècnica de València. Departamento de Ingeniería de la Construcción y de Proyectos de Ingeniería Civil - Departament d'Enginyeria de la Construcció i de Projectes d'Enginyeria Civil, Universitat Politècnica de València. Escuela Técnica Superior de Ingenieros Industriales - Escola Tècnica Superior d'Enginyers Industrials, and Romero Sánchez, Francisco Javier
- Abstract
[ES] En el presente trabajo se diseña un sistema pasivo de instalaciones, basado en iluminación natural, en las edificaciones de una planta industrial, dedicada a la fabricación de estibas y carpintería. Contiene la justificación de la propuesta técnica así como el estudio, análisis y determinación de sus limitaciones en la eficiencia energética de la planta. Incluirá la simulación de los sistemas de iluminación natural en los diferentes locales del sector productivo, así como la estimación, mediante software específico, de los niveles de iluminación en los planos de trabajo, coeficientes de uniformidad e índices de eficiencia energética de los diferentes locales., [EN] In the present work a passive system of facilities is designed, based on natural lighting, in the buildings of an industrial plant, dedicated to the manufacture of pallets and carpentry. It contains the justification for the technical proposal as well as the study, analysis and determination of its limitations in the energy efficiency of the plant. It will include the simulation of natural lighting systems in the different areas of the productive sector, as well as the estimation, through specific software, of the levels of illumination in the work planes, uniformity coefficients and energy efficiency indices of the different premises.
- Published
- 2019
16. Intérpretes culturales del siglo XIX: los 'guías de turismo' no reconocidos
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Gavinelli, Dino and Romero Sánchez, Francisco M.
- Subjects
Siglo XIX ,Patrimonio ,Profesiones Turísticas ,Intérprete y mediador turístico ,Turismo cultural - Abstract
Antes de las primeras regulaciones de la profesión de guía de turismo en Europa, finales del siglo XIX, los turistas del Romanticismo fueron atraídos por países como Italia, España, Turquía y Egipto (contemplación de la antigüedad, orientalismo y exotismo), alimentados por la literatura de viaje y por la mejora de las infraestructuras (la llegada del tren). Como resultado del gran incremento de turistas en estos países, se pretende analizar a los diferentes grupos de intérpretes del patrimonio cultural, nuestro caso de estudio, quienes fueron los antecesores de los actuales guías de turismo. La investigación se ha desarrollado a través de una revisión crítica de la literatura de viaje, el estudio de los conceptos que definen y se refieren a los intérpretes populares conjuntamente a la selección de algunas fuentes que testimonian su existencia. El objetivo final pretende demostrar que ciertamente los intérpretes populares fueron una especia de mediadores entre el ambiente, el territorio, la cultura local, las tradiciones y los turistas. Su labor era por tanto fundamental para la interpretación in situ del patrimonio material e inmaterial, ambiental y cultural de un determinado lugar. Además, revisaremos dos importantes figuras de intérpretes culturales populares, Chorro e Jumo y Cornelio. Before the first regulations of the profession of tourist guide in Europe in the late nineteenth century, the tourists of Romanticism were attracted by countries like Italy, Spain, Turkey and Egypt (contemplation of antiquity, orientalism and exoticism), fuelled by travel literature and thanks to improvements in infrastructures (the arrival of the train). As a result of the large increase in tourists in these countries, we intend to analyze the different groups of interpreters of cultural heritage, our object of study, who were the predecessors of today’s tourist guides. The research has been developed through a critical review of travel literature, studying concepts that define and refer to popular interpreters in conjunction with the selection of some sources that provde their existence. The ultimate aim is to show that popular interpreters were indeed a kind of mediator between the envioronment, territory, local culture, traditions and tourists. Their work was fundamental for the “in situ” interpretation of material and immaterial heritage. In addition, we will review two important and popular cultural interpreters, Chorro e Jumo and Cornelio.
- Published
- 2018
17. Design of the Cooperative Actuation in Hybrid Orthoses: A Theoretical Approach Based on Muscle Models
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Romero-Sánchez, Francisco, primary, Bermejo-García, Javier, additional, Barrios-Muriel, Jorge, additional, and Alonso, Francisco J., additional
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- 2019
- Full Text
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18. A new methodology to identify minimum strain anatomical lines based on 3-D digital image correlation
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Barrios-Muriel, Jorge, primary, Alonso Sánchez, Francisco Javier, additional, Salgado, David Rodríguez, additional, and Romero-Sánchez, Francisco, additional
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- 2017
- Full Text
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19. Low-cost active orthosis for gait assistance of subjects with spinal cord injury
- Author
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Font Llagunes, Josep Maria, Lugrís Armesto, Urbano, Febrer Nafría, Miriam, Romero Sánchez, Francisco, Pàmies Vilà, Rosa, Alonso Sánchez, Francisco Javier, Cuadrado Aranda, Javier, Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica, and Universitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab
- Subjects
Enginyeria mecànica [Àrees temàtiques de la UPC] ,Enginyeria biomèdica [Àrees temàtiques de la UPC] ,Enginyeria mecànica ,Biomecànica ,Enginyeria biomèdica::Biomecànica [Àrees temàtiques de la UPC] ,Biomechanics ,Enginyeria biomèdica ,Biomedical engineering ,Mechanical engineering - Published
- 2016
20. Design, control and evaluation of a low-cost active orthosis for the gait of spinal cord injured subjects
- Author
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Font Llagunes, Josep Maria, Clos Costa, Daniel, Lugrís Armesto, Urbano, Romero Sánchez, Francisco, Pàmies Vilà, Rosa, Alonso Sánchez, Francisco Javier, Cuadrado Aranda, Javier, Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica, and Universitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab
- Subjects
Enginyeria mecànica [Àrees temàtiques de la UPC] ,Enginyeria biomèdica [Àrees temàtiques de la UPC] ,Enginyeria mecànica ,Biomecànica ,Biomechanics ,Enginyeria biomèdica ,Enginyeria biomèdica::Biomecànica [Àrees temàtiques de la UPC] ,human activities ,Biomedical engineering ,Mechanical engineering - Abstract
Robotic gait training after spinal cord injury is of high priority to maximize independence and improve the living conditions of the patients. Current rehabilitation robots are expensive and heavy, and are generally found only in the clinical environment. To overcome these issues, we present the design of a low-cost, low-weight and personalized robotic orthosis for incomplete spinal cord injured subjects. The paper also presents a preliminary experimental evaluation of the assistive device on one subject with spinal cord injury that can control hip flexion to a certain extent, but lacks control of knee and ankle muscles. Results show that gait velocity, stride length and cadence of walking increased (24,11%, 7,41% and 15,56%, respectively) when wearing active orthoses compared to the case when the subject used the usual passive orthoses.
- Published
- 2016
21. Simulación de la actuación muscular en el diseño de ortesis activas y neuroprótesis
- Author
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Romero Sánchez, Francisco, Alonso Sánchez, Francisco Javier, and Universidad de Extremadura. Departamento de Ingeniería Mecánica, Energética y de los Materiales
- Subjects
Neuroprótesis ,Muscle models ,Active orthoses ,Modelos musculares ,Ortesis activas ,Neuroprostheses - Abstract
Tesis doctoral con la Mención de "Doctor Internacional", Cada año, el número de personas con patologías asociadas a la marcha aumenta, no solo por los nuevos casos de lesiones medulares, parálisis o derrames cerebrales, sino por la prevalencia de dichos casos. A ello se añade el envejecimiento continuo de la población, siendo necesario el desarrollo de dispositivos de asistencia a la marcha para favorecer la autonomía de las personas con movilidad reducida. Desde el punto de vista de la Ingeniería, el diseño de dispositivos personalizados para cada paciente y patología supone un incremento su coste. Este escenario justifica la necesidad de herramientas que faciliten la selección de los actuadores o estimuladores musculares que proporcionarán esa asistencia externa para realizar una marcha funcionalmente correcta. En este contexto, esta tesis doctoral presenta el estudio y desarrollo de diferentes metodologías para asistir el diseño de ortesis activas y neuroprótesis de asistencia a la marcha para sujetos discapacitados. En el caso de ortesis activas, se presenta un método para cuantificar simultáneamente la actuación conjunta de los grupos musculares y de los actuadores externos durante la marcha. En el caso de neuroprótesis y ortesis híbridas se presenta un esquema para calcular el perfil de estimulación que permite conseguir un movimiento funcional dado. Los resultados obtenidos han permitido diseñar un primer prototipo funcional de ortesis activa dentro del Proyecto Nacional de Investigación en el que se desarrolla esta tesis. Las metodologías planteadas se utilizarán para el diseño de un prototipo de ortesis híbrida que permita una mejor rehabilitación de la función motora perdida., The number of persons affected by gait pathologies increases every year not only because of the new cases of spinal cord injury, cerebral palsy or stroke, but for the prevalence of these pathologies. In addition, the ageing of the population calls for immediate action to develop assistive devices in order to foster personal autonomy of people with limited mobility. From the Engineering point of view, the design of patient tailored devices according to their disability increases the device final cost. In this way, different tools are needed to assist the proper selection of the external actuators or the muscular stimulator unit to proportionate the external assistance to achieve a functional gait. In this context this thesis is aimed at presenting the study and development of different methodologies to assist the design of active orthoses and neuroprostheses for gait assistance of disabled subjects. For the design of active orthoses, a method to quantify simultaneously the combined actuation of the muscle groups and external actuators during gait is presented. For the design of neuroprostheses and hybrid orthoses an approach to calculate the stimulation profiles to obtain a given functional movement is proposed. The obtained results have led the design of a functional active orthosis prototype within the context of the National Research Project in which this thesis has been developed. The proposed methodologies will be used in the design of a hybrid orthoses prototype which allows a better rehabilitation of the lost motor function.
- Published
- 2015
22. Muscle parameter identification by using an artificially activated muscle model
- Author
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Romero Sánchez, Francisco, Charneco, José M., Alonso, Javier, Silva, Miguel T., Font Llagunes, Josep Maria|||0000-0002-7192-2980, Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica, and Universitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab
- Subjects
Enginyeria mecànica [Àrees temàtiques de la UPC] ,Muscles ,Músculs ,Biomecànica ,Enginyeria biomèdica::Biomecànica [Àrees temàtiques de la UPC] ,Biomechanics - Published
- 2015
23. Low-cost active orthosis for gait assistance of subjects with spinal cord injury
- Author
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Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica, Universitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab, Font Llagunes, Josep Maria, Lugrís Armesto, Urbano, Febrer Nafría, Miriam, Romero Sánchez, Francisco, Pàmies Vilà, Rosa, Alonso Sánchez, Francisco Javier, Cuadrado Aranda, Javier, Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica, Universitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab, Font Llagunes, Josep Maria, Lugrís Armesto, Urbano, Febrer Nafría, Miriam, Romero Sánchez, Francisco, Pàmies Vilà, Rosa, Alonso Sánchez, Francisco Javier, and Cuadrado Aranda, Javier
- Abstract
Postprint (published version)
- Published
- 2016
24. Estimation of muscular forces from SSA smoothed sEMG signals calibrated by inverse dynamics-based physiological static optimization
- Author
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Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica, Universitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab, Romero Sánchez, Francisco, Alonso Sánchez, Francisco Javier, Gragera, C., Lugrís Armesto, Urbano, Font Llagunes, Josep Maria, Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica, Universitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab, Romero Sánchez, Francisco, Alonso Sánchez, Francisco Javier, Gragera, C., Lugrís Armesto, Urbano, and Font Llagunes, Josep Maria
- Abstract
The estimation of muscular forces is useful in several areas such as biomedical or rehabilitation engineering. As muscular forces cannot be measured in vivo non-invasively they must be estimated by using indirect measurements such as surface electromyography (sEMG) signals or by means of inverse dynamic (ID) analyses. This paper proposes an approach to estimate muscular forces based on both of them. The main idea is to tune a gain matrix so as to compute muscular forces from sEMG signals. To do so, a curve fitting process based on least-squares is carried out. The input is the sEMG signal filtered using singular spectrum analysis technique. The output corresponds to the muscular force estimated by the ID analysis of the recorded task, a dumbbell weightlifting. Once the model parameters are tuned, it is possible to obtain an estimation of muscular forces based on sEMG signal. This procedure might be used to predict muscular forces in vivo outside the space limitations of the gait analysis laboratory., Postprint (published version)
- Published
- 2016
25. Design, control and evaluation of a low-cost active orthosis for the gait of spinal cord injured subjects
- Author
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Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica, Universitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab, Font Llagunes, Josep Maria, Clos Costa, Daniel, Lugrís Armesto, Urbano, Romero Sánchez, Francisco, Pàmies Vilà, Rosa, Alonso Sánchez, Francisco Javier, Cuadrado Aranda, Javier, Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica, Universitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab, Font Llagunes, Josep Maria, Clos Costa, Daniel, Lugrís Armesto, Urbano, Romero Sánchez, Francisco, Pàmies Vilà, Rosa, Alonso Sánchez, Francisco Javier, and Cuadrado Aranda, Javier
- Abstract
Robotic gait training after spinal cord injury is of high priority to maximize independence and improve the living conditions of the patients. Current rehabilitation robots are expensive and heavy, and are generally found only in the clinical environment. To overcome these issues, we present the design of a low-cost, low-weight and personalized robotic orthosis for incomplete spinal cord injured subjects. The paper also presents a preliminary experimental evaluation of the assistive device on one subject with spinal cord injury that can control hip flexion to a certain extent, but lacks control of knee and ankle muscles. Results show that gait velocity, stride length and cadence of walking increased (24,11%, 7,41% and 15,56%, respectively) when wearing active orthoses compared to the case when the subject used the usual passive orthoses., Postprint (published version)
- Published
- 2016
26. An automatic SSA-based de-noising and smoothing technique for surface electromyography signals
- Author
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Universidad de Sevilla. Departamento de Construcciones Arquitectónicas I (ETSA), Galán-Marín, Carmen, Romero Sánchez, Francisco, Alonso Sánchez, Francisco Javier, Cubero Juánez, Javier, Universidad de Sevilla. Departamento de Construcciones Arquitectónicas I (ETSA), Galán-Marín, Carmen, Romero Sánchez, Francisco, Alonso Sánchez, Francisco Javier, and Cubero Juánez, Javier
- Abstract
The surface electromyography (sEMG) signal is a low amplitude signal that emanates from contracting muscles. It can be used directly to measure muscle activity (once noise has been removed) or it can be smoothed for some other application, e.g., orthoses or prostheses control. Here, an automatic heuristic procedure is presented which applies singular spectrum analysis (SSA) and cluster analysis to de-noise andsmoothsEMG signals. SSAis anon-parametric technique thatdecomposes the originaltime series into a set of additive time series in which the noise present in the acquired signal can be easily identified. The proposed approach constitutes an alternative to the traditional smoothing procedures, such as moving average (MOVAG), root mean square (RMS), or low-pass Butterworth filtering that are used to extract the trend of the signal. To assess the quality of the method, the results of its application to a non-stationary sEMG signal are compared with those of other step-wise filtering and smoothing techniques.
- Published
- 2015
27. Muscle parameter identification by using an artificially activated muscle model
- Author
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Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica, Universitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab, Romero Sánchez, Francisco, Charneco, José M., Alonso, Javier, Silva, Miguel T., Font Llagunes, Josep Maria, Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica, Universitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab, Romero Sánchez, Francisco, Charneco, José M., Alonso, Javier, Silva, Miguel T., and Font Llagunes, Josep Maria
- Abstract
Postprint (published version)
- Published
- 2015
28. A simple approach to estimate muscle forces and orthosis actuation in powered assisted walking of spinal cord-injured subjects
- Author
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Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica, Universitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab, Alonso Sánchez, Javier, Romero Sánchez, Francisco, Pàmies Vilà, Rosa, Lugrís Armesto, Urbano, Font Llagunes, Josep Maria, Universitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica, Universitat Politècnica de Catalunya. BIOMEC - Biomechanical Engineering Lab, Alonso Sánchez, Javier, Romero Sánchez, Francisco, Pàmies Vilà, Rosa, Lugrís Armesto, Urbano, and Font Llagunes, Josep Maria
- Abstract
Simulation of walking in individuals with incomplete spinal cord injuries (SCI) wearing an active orthosis is a challenging problem from both the analytical and the computational points of view, due to the redundant nature of the simultaneous actuation of the two systems. The objective of this work is to quantify the contributions of muscles and active orthosis to the net joint torques, so as to assist the design of active orthoses for SCI. The functional innervated muscles of SCI patients were modeled as Hill-type actuators, while the idle muscles were represented by elastic and dissipative elements. The orthosis was included as a set of external torques added to the ankles, knees, and hips to obtain net joint torque patterns similar to those of normal unassisted walking. The muscle-orthosis redundant actuator problem was solved through a physiological static optimization approach, for which several cost functions and various sets of innervated muscles were compared., Postprint (published version)
- Published
- 2012
29. Explicacion clara de la famosa y especialìssima indulgencia o jubileo de Porciuncula, ya como en Assis, yá como en las demàs Iglesias de la Religion Serafica
- Author
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Romero Sánchez, Francisco, (O.F.M. and Romero Sánchez, Francisco, (O.F.M.
- Abstract
https://patrimoniodigital.ucm.es/r/thumbnail/741745, https://patrimoniodigital.ucm.es/r/item/5325117608
30. Explicacion clara de la famosa, y especialissima indulgencia, o Jubileo de Porciuncula, ya como en Assis, ya como en las demas Iglesias de la religion serafica [Texto impreso]
- Author
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Romero Sánchez, Francisco, García, Francisco Javier fl. 1753-1781? imp., Romero Sánchez, Francisco, and García, Francisco Javier fl. 1753-1781? imp.
- Abstract
Aguilar Piñal. Bib. S.XVIII, Sign.: ¶⁸⁻¹, ¶¶⁸, A-L⁸, Texto con notas a pie de página, Iniciales grabadas
31. Análisis de líneas anatómicas de mínima deformación utilizando correlación digital de imágenes y tecnologías de escaneado 3D como criterio biomecánico para el diseño de dispositivos de rehabilitación fabricados mediante impresión 3D
- Author
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Barrios Muriel, Jorge, Alonso Sánchez, Francisco Javier, Rodríguez Salgado, David, Romero Sánchez, Francisco, and Universidad de Extremadura. Departamento de Ingeniería Mecánica, Energética y de los Materiales
- Subjects
2406.04 Biomecánica ,Impresión 3D ,Skin strain ,3313 Tecnología E Ingeniería Mecánicas ,Digital image correlation ,Biomechanics ,3204.04 Rehabilitación (Médica) ,Órtesis ,Biomecánica ,3314 Tecnología Médica - Abstract
El desarrollo de tecnología "wearable" o "vestible" es, a día de hoy, un campo de investigación extenso, donde la usabilidad y el confort son aspectos clave en el desarrollo de esta tecnología, debido a que es el cuerpo humano el que porta estos sistemas. Es por ello que el comportamiento de la piel durante el movimiento cotidiano de cada persona, debe ser fuente de inspiración para diseñar dispositivos cómodos y seguros. En el ámbito ortoprotésico, no existe aún una transferencia y aplicación de estos conceptos al diseño de órtesis. Actualmente, solo se tiene en cuenta la anatomía del sujeto sin considerar el comportamiento del sistema músculo-esquelético. Por lo tanto, para un diseño óptimo, se debe conocer la distribución de las deformaciones que se producen en la piel como consecuencia del movimiento articular y del tejido blando. Esta tesis doctoral presenta, por un lado, el desarrollo de una metodología para medir la deformación de la piel utilizando principios de correlación digital de imágenes, y por otro, un nuevo enfoque de diseño basado en el concepto de líneas anatómicas de mínima deformación, como criterio de diseño biomecánico. Los resultados obtenidos han permitido implementar una nueva metodología para el diseño de dispositivos de rehabilitación con geometrías complejas y personalizadas al movimiento, y además aplicar la impresión 3D como método de fabricación alternativo de estos dispositivos. Este nuevo enfoque junto con la metodología desarrollada, supone una nueva herramienta para el diseño de dispositivos de rehabilitación y la ergonomía de productos., Nowadays, the development of wearable technology is an extensive research field, where the usability and comfort play a key role in the development of these devices, as the human body is the carrier of such technology. Therefore, the human skin behaviour must be a source of inspiration for the safety design of wearable devices. From the perspective of the orthotic field, there is no application of the aforementioned concepts in the design of orthoses. So far, the design of orthoses has only focused on the anatomy of the patient without considering the behaviour of the musculoskeletal system. In this sense, to perform an optimal design of these devices, an improved understanding of the skin strain field of the body segment during human motion is necessary, as such devices are in permanent contact with the human skin during treatment. This thesis is aimed at presenting, on the one hand, the development of a methodology to measure the human skin strain field using principles of stereo digital image correlation and, on the other hand, a novel approach to improve and optimize the design of orthoses based on the use of anatomical lines of minimal deformation as a biomechanical criteria. The obtained results have led to the implementation of a new methodology for the design of rehabilitation devices with complex geometries and adapted to the movement of each patient. This new approach represents a new tool for the design of rehabilitation devices and ergonomic products., Este trabajo ha sido desarrollado en el ámbito del Proyecto Nacional "Ortesis híbrida motor-FES de bajo coste para la marcha de lesionados medulares y métodos de simulación para ayuda al diseño y la adaptación", cofinanciado por el Ministerio de Economía y Competitividad y la Unión Europea mediante fondos EFDR, y en el ámbito de las ayudas para la consolidación y apoyo de los grupos inscritos en el Catálogo de Grupos de Investigación de Extremadura (TPR010).
- Published
- 2017
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