INVESTIGACIÓN

@inproceedings{DBLP:conf/iros/SarakoglouBMGCT16,

title = {HEXOTRAC: A highly under-actuated hand exoskeleton for finger  tracking and force feedback},

author = {Sarakoglou, Ioannis and Brygo, Anais and Mazzanti,Dario and Garcia-Hernandez, Nadia and Caldwell, Darwin and Tsagarakis, Nikos G },

url = {https://doi.org/10.1109/IROS.2016.7759176},

doi = {10.1109/IROS.2016.7759176},

year  = {2016},

date = {2016-10-09},

booktitle = { International Conference on Intelligent Robots and  Systems, IROS 2016, Daejeon, South Korea},

volume = {2016 },

number = {October 9-14},

pages = {1033--1040},

publisher = {IEEE/RSJ},

crossref = {DBLP:conf/iros/2016},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{7759176,

title = {HEXOTRAC: A highly under-actuated hand exoskeleton for finger tracking and force feedback},

author = {Sarakoglou, Ioannis and A. Brygo and D. Mazzanti and N. G. Hernandez and D. G. Caldwell and N. G. Tsagarakis},

doi = {10.1109/IROS.2016.7759176},

year  = {2016},

date = {2016-10-01},

booktitle = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

pages = {1033-1040},

abstract = {Exoskeletons offer an intuitive method for actuating multiple DOF of the body; this makes them attractive for applications where generation and coupling of artificial forces to the limbs is needed. Force feedback hand exoskeletons have been continuously considered for whole hand haptic interaction in virtual reality simulators, in teleoperation setups and for rehabilitation. In hand exoskeletons finger tracking, actuation and transmission systems must be embedded in confined spaces, matching at the same time the profound dexterity of the hand transparently and without causing a burden. Most of the design approaches for such systems have remained largely experimental due to hardware limitations, impacting heavily on important functional and ergonomic factors. This paper presents the design of a novel 3-digit hand exoskeleton, which addresses the issues of finger tracking and force feedback. It proposes a new approach for the application of the feedback force with a single attachment at the fingertip through a 6DoF kinematic chain. This kinematic linkage allows for unconstrained reach of the fingers within their full workspace and facilitates a sensor system for high resolution 6DOF tracking of the fingertips. At the same time the highly under-actuated mechanism permits application of a bidirectional feedback force at the fingertips. The hand exoskeleton fits an large range of hand sizes and requires no mechanical alignment between the linkage and the fingers, whatsoever. Preliminary results show the efficacy of this system as a tracking and force feedback device for the hand.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{7761188,

title = {A bag of relevant regions model for visual place recognition in coral reefs},

author = {Maldonado-Ramirez, Alejandro and Torres-M\'{e}ndez, Luz Abril},

doi = {10.1109/OCEANS.2016.7761188},

year  = {2016},

date = {2016-09-01},

booktitle = {OCEANS 2016 MTS/IEEE Monterey},

pages = {1-5},

abstract = {Vision-based place recognition in underwater environments is a key component for autonomous robotic exploration. However, this task can be very challenging due to the inherent properties of this kind of places such as: color distortion, poor visibility, perceptual aliasing and dynamic illumination. In this paper, we present a method for vision-based place recognition in coral reefs. Our method relies on using the Bag-of-Words (BoW) approach to derive a descriptor, for the whole image, from a set of relevant regions, which are extracted by utilizing a visual attention algorithm. The descriptor for each relevant region is built by using an histogram of the chromatic channels of the CIE-Lab color space. We present results of our method for a place recognition task in real life videos as well as comparisons of our method against other popular techniques. It can be seen that our approach performs better in most of the cases.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{7761187,

title = {A statistical learning approach for underwater color restoration with adaptive training based on visual attention},

author = {Ponce-Hinestroza, A. N. and Torres-Mendez, Luz Abril and Drews, Paulo},

doi = {10.1109/OCEANS.2016.7761187},

year  = {2016},

date = {2016-09-01},

booktitle = {OCEANS 2016 MTS/IEEE Monterey},

pages = {1-6},

abstract = {In most artificial vision systems the quality of acquired images is directly related with the amount of information that can be obtained from them, and, particularly in underwater robotics applications involving monitoring and inspection tasks this is crucial. Statistical learning methods like Markov Random Fields with Belief Propagation (MRF-BP) provide a solution by using existing essential correlations in training sets. However, as in any restoration/correction method for real applications, it is not possible to have color ground truth available on-line. In this paper, we present a MRF-BP model formulated in the chromatic domain of underwater scenes such that we synthesize the ground truth color to train the model and maximize the capabilities of our method. The generated ground truth introduces some improvements to existing color correction methods and visual attention considerations which also helps to choose a small size training set for the MRF-BP model. Feasibility of our approach is shown from the results in which a good color discrimination is observed even in poor visibility conditions.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{DBLP:conf/icra/BrygoSAGGCCT16,

title = {Synergy-based interface for bilateral tele-manipulations of a master-slave  system with large asymmetries},

author = {Brygo, Anais and 

 Sarakoglou, Ioannis and 

 Ajoudani, Arash and 

 Garcia-Hernandez, Nadia and 

 Grioli, Giorgio and 

 Catalano, Manuel G. and 

 Caldwell, Darwin G. and 

 Tsagarakis, Nikolaos G. },

url = {https://doi.org/10.1109/ICRA.2016.7487690},

doi = {10.1109/ICRA.2016.7487690},

year  = {2016},

date = {2016-05-16},

booktitle = {IEEE International Conference on Robotics and Automation, ICRA 

 2016, Stockholm, Sweden, May 16-21, 2016},

volume = {2016},

pages = {4859--4865},

publisher = {IEEE},

crossref = {DBLP:conf/icra/2016},

abstract = {In this work a novel synergy-based bilateral tele-manipulation strategy is introduced. The proposed algorithm has been primarily developed to remotely control the Pisa/IIT SoftHand (SH) using a 3-finger hand exoskeleton as master device. With a single actuator and a sensory system limited to a position encoder and a current sensor, the SH minimalist design promotes robustness but challenges traditional teleoperation strategies. To tackle this challenge, the concept of Cartesian-based hand synergies is introduced as a projection tool which maps the fingertip Cartesian space to the directions oriented along the grasp principal components. The unconstrained motion of the operator's hand is projected on this space to extract the SH's motor position reference. Conversely, the interaction force estimated at the robotic hand as a 1-dimensional force along the first synergy is projected to the 9D fingertip Cartesian space through an inverse projection. The resultant finger-individualized forces form a synergy based weighted representation of the grasping effort applied by the SH and are displayed to the operators fingertips using the force feedback hand exoskeleton. The system's ability to reflect the environment's impedance has been experimentally validated during a ball squeezing experiment. To assess the overall effectiveness of the proposed system as a manipulation interface, the SoftHand was mounted on the humanoid robot COMAN and the setup was subsequently enriched with a vision-based tracking system monitoring the operators wrist trajectory. Experimental results indicate that the proposed body-machine bilateral interface allows for the intuitive performance of stable grasps and transport of a large range of diversely shaped objects.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}