En este artículo se presenta el diseño de una prótesis de mano que se adapta al crecimiento del usuario, desde los 4 años hasta la edad adulta. Se ha considerado en el diseño el estudio de las necesidades de los pacientes y el estudio de las medidas antropométricas de los usuarios en la edad de crecimiento. El diseño incluye únicamente la estructura externa y los mecanismos de movimiento, así pues no se ha incluido en este trabajo el diseño del control ni de la electrónica, Postprint (author's final draft)

© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works, The paper presents a novel teleoperation system that allows the simultaneous and continuous command of a ground mobile manipulator and a free flying camera, implemented using an UAV, from which the operator can monitor the task execution in real-time. The proposed decoupled position and orientation workspace mapping allows the teleoperation from a single haptic device with bounded workspace of a complex robot with unbounded workspace. When the operator is reaching the position and orientation boundaries of the haptic workspace, linear and angular velocity components are respectively added to the inputs of the mobile manipulator and the flying camera. A user study on a virtual environment has been conducted to evaluate the performance and the workload on the user before and after proper training. Analysis on the data shows that the system complexity is not an obstacle for an efficient performance. This is a first step towards the implementation of a teleoperation system with a real mobile manipulator and a low-cost quadrotor as the free-flying camera., Accepted version

There is a lack of quality indexes to evaluate grasps that are more likely to allow a hand-to-hand transfer of an object during a ma- nipulation task. In order to overcome it, this paper presents a proposal of grasp transfer quality measures to evaluate how easy or feasible is that an object grasped by one hand could be grasped by another hand to per- form a hand-to-hand transfer. Experiments were conducted to evaluate the proposed grasp transfer quality measures using different objects and the model of a real robotic hand, Peer Reviewed, Postprint (author's final draft)

This paper presents a method to compute con-
tact forces for bimanual grasps. The method is based on the
optimization of the force distribution of the hands and min-
imizing the force exerted by each finger, using two different
cost functions. Both cost functions and the constrains of the
optimization problem are formulated as functions of the joint
torques based on the existing relation between the grasping
forces, the hand-jacobian matrix and the torque of the joint
fingers. Additionally, a bimanual grasp index is presented to
measure the force distribution between the hands. The paper
includes some application examples of the proposed approac, Peer Reviewed, Postprint (author's final draft)

In manipulation planning, dynamic interactions between the objects and the robots play a significant role. In this scope, dynamic engines allow to consider them within motion planners, giving rise to physics-based motion planners that consider the purposeful manipulation of objects. In this context, the representation of knowledge regarding how the objects have to be manipulated
eases a semantic-based reasoning that reduces the computational cost of physics-based planners. In this work, an ontology framework is proposed to organize the knowledge needed for physics-based manipulation planning, allowing to derive
manipulation regions and behaviors. A semantic map is constructed to categorize and assign the manipulation constraints based on the robot, the objects and the type of actions. The ontology framework can be queried using Description Language to obtain the necessary knowledge for the robot to manipulate the objects in its environment., Peer Reviewed, Postprint (author's final draft)

The final version of this work is available at https://doi.org/10.1016/j.ifacol.2017.08.1578
Copyright of all papers belongs to IFAC and must be referenced if derivative journal papers are produced from the conference papers., One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions to complete a complex task. In this line, some recent approaches describe tasks with Linear Temporal Logic (LTL) and reason on discrete actions to guide sampling-based motion planning, with the aim of finding dynamically-feasible motions that satisfy the temporal-logic task specifications. The present paper proposes an LTL planning approach enhanced with the use of ontologies to describe and reason about the task, on the one hand, and that includes physics-based motion planning to allow the purposeful manipulation of objects, on the other hand. The proposal has been implemented and is illustrated with didactic examples with a mobile robot in simple scenarios where some of the goals are occupied with objects that must be removed in order to fulfill the task., Peer Reviewed

En este artículo se presenta el diseño de una prótesis de mano que se adapta al crecimiento del usuario, desde los 4 años hasta la edad adulta. Se ha considerado en el diseño el estudio de las necesidades de los pacientes y el estudio de las medidas antropométricas de los usuarios en la edad de crecimiento. El diseño incluye únicamente la estructura externa y los mecanismos de movimiento, así pues no se ha incluido en este trabajo el diseño del control ni de la electrónica

There is a lack of quality indexes to evaluate grasps that are more likely to allow a hand-to-hand transfer of an object during a ma- nipulation task. In order to overcome it, this paper presents a proposal of grasp transfer quality measures to evaluate how easy or feasible is that an object grasped by one hand could be grasped by another hand to per- form a hand-to-hand transfer. Experiments were conducted to evaluate the proposed grasp transfer quality measures using different objects and the model of a real robotic hand, Peer Reviewed

In manipulation planning, dynamic interactions between the objects and the robots play a significant role. In this scope, dynamic engines allow to consider them within motion planners, giving rise to physics-based motion planners that consider the purposeful manipulation of objects. In this context, the representation of knowledge regarding how the objects have to be manipulated
eases a semantic-based reasoning that reduces the computational cost of physics-based planners. In this work, an ontology framework is proposed to organize the knowledge needed for physics-based manipulation planning, allowing to derive
manipulation regions and behaviors. A semantic map is constructed to categorize and assign the manipulation constraints based on the robot, the objects and the type of actions. The ontology framework can be queried using Description Language to obtain the necessary knowledge for the robot to manipulate the objects in its environment., Peer Reviewed

© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works, The paper presents a novel teleoperation system that allows the simultaneous and continuous command of a ground mobile manipulator and a free flying camera, implemented using an UAV, from which the operator can monitor the task execution in real-time. The proposed decoupled position and orientation workspace mapping allows the teleoperation from a single haptic device with bounded workspace of a complex robot with unbounded workspace. When the operator is reaching the position and orientation boundaries of the haptic workspace, linear and angular velocity components are respectively added to the inputs of the mobile manipulator and the flying camera. A user study on a virtual environment has been conducted to evaluate the performance and the workload on the user before and after proper training. Analysis on the data shows that the system complexity is not an obstacle for an efficient performance. This is a first step towards the implementation of a teleoperation system with a real mobile manipulator and a low-cost quadrotor as the free-flying camera.

Premio ROBOTNIK, a la mejor comunicación del Grupo de Robótica, en las XXXVIII Jornadas de Automática, del Comité Español de Automática, En este artículo se presenta un método para calcular fuerzas de contacto para prensiones bimanuales. El método propuesto utiliza dos funciones de coste para optimizar la distribución de la fuerza de las manos con las que se realiza la prensión bimanual y para minimizar la fuerza ejercida por los dedos. Las funciones de coste y las restricciones del problema de optimización se han formulado en función de los torques de las articulaciones tomando como base la relación existente entre las fuerzas de contacto, la matriz jacobiana de la mano y los torques de las articulaciones. Adicionalmente se presenta uníndice para medir la distribución de la fuerza entre las manos. El artículo incluye algunos ejemplos prácticos del enfoque propuesto., Award-winning

This paper presents a method to compute con-
tact forces for bimanual grasps. The method is based on the
optimization of the force distribution of the hands and min-
imizing the force exerted by each finger, using two different
cost functions. Both cost functions and the constrains of the
optimization problem are formulated as functions of the joint
torques based on the existing relation between the grasping
forces, the hand-jacobian matrix and the torque of the joint
fingers. Additionally, a bimanual grasp index is presented to
measure the force distribution between the hands. The paper
includes some application examples of the proposed approac, Peer Reviewed

Grasping an object in unstructured and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exits. High-level knowledge and reasoning processes, as well as the allowing of interaction between objects, can enhance the planning efficiency in such environments. In this direction, this study proposes a knowledge-oriented physics-based motion planning approach for a hand-arm system that uses a high-level knowledge-based reasoning to partition the workspace into regions to both guide the planner and reason about the result of the dynamical interactions between rigid bodies. The proposed planner is a kinodynamic RRT that uses a region-biased state sampling strategy and a smart validity checker that takes into account uncertainty in the pose of the objects. Complex dynamical interactions along with possible physics-based constraints such as friction and gravity are handled by a physics engine that is used as the RRT state propagator. The proposal is validated for different scenarios in simulation and in a real environment using a 7-degree-of-freedom KUKA Lightweight robot equipped with a two-finger gripper. The results show a significant improvement in the success rate of the execution of the computed plan in the presence of object pose uncertainty., Peer Reviewed

Different types of neurological deficits and sequels in the upper extremities that affect the activities of daily living (ADL) in patients who have undergone stroke have been analyzed from a subjective clinical point of view.
The aim of this work is to show a novel environment to simulate the initial improvement of the upper limb functions a few days after stroke and simulate the functional recovery of patients under a rehabilitation
program.
Eighteen patients in the first seven days of stroke were selected. Five men and thirteen women participated in the experiments. After six months, six of them recovered all the functionality of the hand tested with the ARAT test and wearing a Ciberglobe system, five recovered part of the hand functionality, and seven did not show
apparent recovery of the functionality of the hand., Peer Reviewed

Premio ROBOTNIK, a la mejor comunicación del Grupo de Robótica, en las XXXVIII Jornadas de Automática, del Comité Español de Automática, En este artículo se presenta un método para calcular fuerzas de contacto para prensiones bimanuales. El método propuesto utiliza dos funciones de coste para optimizar la distribución de la fuerza de las manos con las que se realiza la prensión bimanual y para minimizar la fuerza ejercida por los dedos. Las funciones de coste y las restricciones del problema de optimización se han formulado en función de los torques de las articulaciones tomando como base la relación existente entre las fuerzas de contacto, la matriz jacobiana de la mano y los torques de las articulaciones. Adicionalmente se presenta uníndice para medir la distribución de la fuerza entre las manos. El artículo incluye algunos ejemplos prácticos del enfoque propuesto., Award-winning, Postprint (author's final draft)

Grasping an object in unstructured and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exits. High-level knowledge and reasoning processes, as well as the allowing of interaction between objects, can enhance the planning efficiency in such environments. In this direction, this study proposes a knowledge-oriented physics-based motion planning approach for a hand-arm system that uses a high-level knowledge-based reasoning to partition the workspace into regions to both guide the planner and reason about the result of the dynamical interactions between rigid bodies. The proposed planner is a kinodynamic RRT that uses a region-biased state sampling strategy and a smart validity checker that takes into account uncertainty in the pose of the objects. Complex dynamical interactions along with possible physics-based constraints such as friction and gravity are handled by a physics engine that is used as the RRT state propagator. The proposal is validated for different scenarios in simulation and in a real environment using a 7-degree-of-freedom KUKA Lightweight robot equipped with a two-finger gripper. The results show a significant improvement in the success rate of the execution of the computed plan in the presence of object pose uncertainty., Peer Reviewed, Postprint (published version)

The final version of this work is available at https://doi.org/10.1016/j.ifacol.2017.08.1578
Copyright of all papers belongs to IFAC and must be referenced if derivative journal papers are produced from the conference papers., One of the main foci of robotics is nowadays centered in providing a great degree of autonomy to robots. A fundamental step in this direction is to give them the ability to plan in discrete and continuous spaces to find the required motions to complete a complex task. In this line, some recent approaches describe tasks with Linear Temporal Logic (LTL) and reason on discrete actions to guide sampling-based motion planning, with the aim of finding dynamically-feasible motions that satisfy the temporal-logic task specifications. The present paper proposes an LTL planning approach enhanced with the use of ontologies to describe and reason about the task, on the one hand, and that includes physics-based motion planning to allow the purposeful manipulation of objects, on the other hand. The proposal has been implemented and is illustrated with didactic examples with a mobile robot in simple scenarios where some of the goals are occupied with objects that must be removed in order to fulfill the task., Peer Reviewed, Postprint (author's final draft)

Different types of neurological deficits and sequels in the upper extremities that affect the activities of daily living (ADL) in patients who have undergone stroke have been analyzed from a subjective clinical point of view.
The aim of this work is to show a novel environment to simulate the initial improvement of the upper limb functions a few days after stroke and simulate the functional recovery of patients under a rehabilitation
program.
Eighteen patients in the first seven days of stroke were selected. Five men and thirteen women participated in the experiments. After six months, six of them recovered all the functionality of the hand tested with the ARAT test and wearing a Ciberglobe system, five recovered part of the hand functionality, and seven did not show
apparent recovery of the functionality of the hand., Peer Reviewed, Postprint (published version)

[Resumen] En este artículo se presenta un esquema para la integración de un sistema robótico bi-brazo, para transformar resultados obtenidos de simulaciones en ejecuciones en un entornos real. Este esquema utiliza una capa de comunicación basada en "The Robot Operating System (ROS)" y el software "The Kautham Project", para calcular las trayectorias de movimiento, validar la existencia de soluciones de cinemáticas inversas, chequeo de colisiones y visualizar gráficamente la simulación del entorno. El sistema robótico bi-brazo utilizado es ADARS (Anthropomorphic Dual Arm Robotic System). Se han utilizado dos tipos de aplicaciones de cooperación bi-brazo para mostrar la validez del esquema durante la experimentación real., Este trabajo ha sido parcialmente financiado por el Gobierno de España a través de los proyectos DPI2013-40882-P y DPI2014-57757-R. A. Rojas fue parcialmente apoyado por la beca doctoral mexicana CONACyT 313768, https://doi.org/10.17979/spudc.9788497498081