Para ver las publicaciones de todo Robótica y Manufactura Avanzada, ver: Publicaciones RYMA
2020
Artículos de revista
Garcia-Hernandez, Nadia; Guzman-Alvarado, Miguel; Parra-Vega, Vicente
Virtual body representation for rehabilitation influences on motor performance of cerebral palsy children Artículo de revista
En: Virtual Reality, 2020, ISSN: 1434-9957.
@article{Garcia-Hernandez2020,
title = {Virtual body representation for rehabilitation influences on motor performance of cerebral palsy children},
author = {Garcia-Hernandez, Nadia and Guzman-Alvarado, Miguel and Parra-Vega, Vicente},
url = {https://doi.org/10.1007/s10055-020-00481-3},
doi = {10.1007/s10055-020-00481-3},
issn = {1434-9957},
year = {2020},
date = {2020-10-29},
journal = {Virtual Reality},
abstract = {Game-based virtual reality systems have been shown to enhance motor function, motivation and therapy adherence in cerebral palsy (CP) children. In these systems, several types of virtual body representations have been implemented, however without conclusive support of guidelines nor the most appropriate choice for enhancing motor performance. Thus, the purpose of this study is to examine how the subjective experience of seeing and controlling a half-body avatar, or an abstract hand representation in a moderate immersion virtual environment (VE), for training upper limb movements may affect CP children's motor performance. To achieve that purpose, a game-like VE for training the reaching-releasing of objects was designed. Unlike previous studies, relevant task performance and cost function metrics were obtained from the analysis of kinematic and kinetic parameters of movement. Results show that visualizing the hand movement through an abstract object makes children perform faster, correct less to produce smoother movements, and use less mechanical energy than visualizing the arm movement through a realistic Avatar. These effects were more noticeable in the reaching than in the releasing phase of the task. Based on these findings, some recommendations are provided for the effective design and use of VE's for upper limb rehabilitation of CP children.},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Game-based virtual reality systems have been shown to enhance motor function, motivation and therapy adherence in cerebral palsy (CP) children. In these systems, several types of virtual body representations have been implemented, however without conclusive support of guidelines nor the most appropriate choice for enhancing motor performance. Thus, the purpose of this study is to examine how the subjective experience of seeing and controlling a half-body avatar, or an abstract hand representation in a moderate immersion virtual environment (VE), for training upper limb movements may affect CP children's motor performance. To achieve that purpose, a game-like VE for training the reaching-releasing of objects was designed. Unlike previous studies, relevant task performance and cost function metrics were obtained from the analysis of kinematic and kinetic parameters of movement. Results show that visualizing the hand movement through an abstract object makes children perform faster, correct less to produce smoother movements, and use less mechanical energy than visualizing the arm movement through a realistic Avatar. These effects were more noticeable in the reaching than in the releasing phase of the task. Based on these findings, some recommendations are provided for the effective design and use of VE's for upper limb rehabilitation of CP children.
2019
Artículos de revista
Garcia-Hernandez, Nadia; Corona-Cortes, J.; García-Fuentes, L.; Gonzalez-Santibanez, R.; Parra-Vega, Vicente
Biomechanical and functional effects of shoulder kinesio taping on cerebral palsy children interacting with virtual objects Artículo de revista
En: Computer Methods in Biomechanics and Biomedical Engineering, vol. 22, no. 6, pp. 676-684, 2019, (PMID: 30829542).
@article{doi:10.1080/10255842.2019.1580361,
title = {Biomechanical and functional effects of shoulder kinesio taping on cerebral palsy children interacting with virtual objects},
author = {Garcia-Hernandez, Nadia and Corona-Cortes, J. and Garc\'{i}a-Fuentes, L. and Gonzalez-Santibanez, R. and Parra-Vega, Vicente},
url = {https://doi.org/10.1080/10255842.2019.1580361},
doi = {10.1080/10255842.2019.1580361},
year = {2019},
date = {2019-01-01},
journal = {Computer Methods in Biomechanics and Biomedical Engineering},
volume = {22},
number = {6},
pages = {676-684},
publisher = {Taylor and Francis},
abstract = {AbstractThe reaching of objects is usually practiced by CP children in conventional or Virtual Reality-based therapies to enhance motor skill performance. Recently, Kinesio Taping® method has been studied to increase mechanical stability and improve functional movement of the upper limb; however, its influence on CP children´s upper limb motion has been rarely quantified due to lack of sensory measurement. Therefore, in this paper, we evaluate the biomechanical and functional effects of applying shoulder Kinesio Taping® on CP children in the reaching-transporting of virtual objects, by using a low-cost tracking device, exact robust differentiation of data and a simple nonlinear biomechanical dynamic model of the trunk and arm.},
note = {PMID: 30829542},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
AbstractThe reaching of objects is usually practiced by CP children in conventional or Virtual Reality-based therapies to enhance motor skill performance. Recently, Kinesio Taping® method has been studied to increase mechanical stability and improve functional movement of the upper limb; however, its influence on CP children´s upper limb motion has been rarely quantified due to lack of sensory measurement. Therefore, in this paper, we evaluate the biomechanical and functional effects of applying shoulder Kinesio Taping® on CP children in the reaching-transporting of virtual objects, by using a low-cost tracking device, exact robust differentiation of data and a simple nonlinear biomechanical dynamic model of the trunk and arm.
2018
Artículos de revista
Garcia-Hernandez, Nadia; Garza-Martinez, K.; Parra-Vega, Vicente
Electromyography Biofeedback Exergames to Enhance Grip Strength and Motivation Artículo de revista
En: Games Health Journal, vol. 7, no. 1, pp. 75-82, 2018.
@article{Garcia-Hernandez2018,
title = {Electromyography Biofeedback Exergames to Enhance Grip Strength and Motivation},
author = {Garcia-Hernandez, Nadia and Garza-Martinez, K. and Parra-Vega, Vicente},
url = {https://www.ncbi.nlm.nih.gov/pubmed/29227162},
doi = {http://doi.org/10.1089/g4h.2017.0054},
year = {2018},
date = {2018-02-01},
journal = {Games Health Journal},
volume = {7},
number = {1},
pages = {75-82},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2016
Partes del actas de congresos
Sarakoglou, Ioannis; Brygo, Anais; Mazzanti, Dario; Garcia-Hernandez, Nadia; Caldwell, Darwin; Tsagarakis, Nikos G
HEXOTRAC: A highly under-actuated hand exoskeleton for finger tracking and force feedback Artículo en actas
En: International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, South Korea, pp. 1033–1040, IEEE/RSJ, 2016.
@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}
}
Brygo, Anais; Sarakoglou, Ioannis; Ajoudani, Arash; Garcia-Hernandez, Nadia; Grioli, Giorgio; Catalano, Manuel G.; Caldwell, Darwin G.; Tsagarakis, Nikolaos G.
Synergy-based interface for bilateral tele-manipulations of a master-slave system with large asymmetries Artículo en actas
En: IEEE International Conference on Robotics and Automation, ICRA
2016, Stockholm, Sweden, May 16-21, 2016, pp. 4859–4865, IEEE, 2016.
@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}
}
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.
2014
Artículos de revista
Garcia-Hernandez, Nadia; Bertolotto, F.; Cannella, F.; Tsagarakis, N. G.; Caldwell, D. G.
How Tactor Size and Density of Normal Indentation Tactile Displays Affects Grating Discrimination Tasks Artículo de revista
En: IEEE Transactions on Haptics, vol. 7, no. 3, pp. 356-366, 2014, ISSN: 1939-1412.
@article{6750735,
title = {How Tactor Size and Density of Normal Indentation Tactile Displays Affects Grating Discrimination Tasks},
author = {Garcia-Hernandez, Nadia and Bertolotto, F. and Cannella, F. and Tsagarakis, N. G. and Caldwell, D. G.},
url = {http://ieeexplore.ieee.org/document/6750735/?reload=true\&arnumber=6750735},
doi = {10.1109/TOH.2014.2309128},
issn = {1939-1412},
year = {2014},
date = {2014-07-01},
journal = {IEEE Transactions on Haptics},
volume = {7},
number = {3},
pages = {356-366},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Capítulos de libros
Brygo, Anais; Sarakoglou, Ioannis; Garcia-Hernandez, Nadia; Tsagarakis, Nikolaos
Humanoid Robot Teleoperation with Vibrotactile Based Balancing Feedback Capítulo de libro
En: Haptics: Neuroscience, Devices, Modeling, and Applications: 9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014, Proceedings, Part II, pp. 266–275, Springer Berlin Heidelberg, Berlin, Heidelberg, 2014, ISBN: 978-3-662-44196-1.
@inbook{Brygo2014,
title = {Humanoid Robot Teleoperation with Vibrotactile Based Balancing Feedback},
author = {Brygo, Anais and Sarakoglou, Ioannis and Garcia-Hernandez, Nadia and Tsagarakis, Nikolaos},
url = {http://dx.doi.org/10.1007/978-3-662-44196-1_33},
doi = {10.1007/978-3-662-44196-1_33},
isbn = {978-3-662-44196-1},
year = {2014},
date = {2014-01-01},
booktitle = {Haptics: Neuroscience, Devices, Modeling, and Applications: 9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014, Proceedings, Part II},
pages = {266--275},
publisher = {Springer Berlin Heidelberg},
address = {Berlin, Heidelberg},
keywords = {},
pubstate = {published},
tppubtype = {inbook}
}
2012
Artículos de revista
Caldwell, D. G.; Garcia-Hernandez, Nadia; Tsagarakis, N. G.; Sarakoglou, Ioannis
A High Performance Tactile Feedback Display and Its Integration in Teleoperation Artículo de revista
En: IEEE Transactions on Haptics, vol. 5, pp. 252-263, 2012, ISSN: 1939-1412.
@article{Caldwell2012,
title = {A High Performance Tactile Feedback Display and Its Integration in Teleoperation},
author = {Caldwell, D. G. and Garcia-Hernandez, Nadia and Tsagarakis, N. G. and Sarakoglou, Ioannis},
url = {doi.ieeecomputersociety.org/10.1109/TOH.2012.20},
doi = {10.1109/TOH.2012.20},
issn = {1939-1412},
year = {2012},
date = {2012-01-01},
journal = {IEEE Transactions on Haptics},
volume = {5},
pages = {252-263},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
