RONIHM: Non-Inertial Robotics and Human-Machine Interfaces

@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}

}

@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}

}

@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}

}

@article{munoz2017fractional,

title = {Fractional integral sliding modes for robust tracking of nonlinear systems},

author = {Mu\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},

year  = {2017},

date = {2017-01-01},

journal = {Nonlinear Dynamics},

volume = {87},

number = {2},

pages = {895--901},

publisher = {Springer},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{munoz2017fractionalb,

title = {Fractional sliding mode control of underwater ROVs subject to non-differentiable disturbances},

author = {Mu\~{n}oz-Vazquez, Aldo Jonathan and Ramirez-Rodriguez, Heriberto and Parra-Vega, Vicente and Sanchez-Orta, Anand},

year  = {2017},

date = {2017-01-01},

journal = {International Journal of Control, Automation and Systems},

pages = {1--8},

publisher = {Springer},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{ASJC:ASJC1370,

title = {Continuous Fractional-Order Sliding PI Control for Nonlinear Systems Subject to Non-Differentiable Disturbances},

author = {Mu\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},

url = {http://dx.doi.org/10.1002/asjc.1370},

doi = {10.1002/asjc.1370},

issn = {1934-6093},

year  = {2017},

date = {2017-01-01},

journal = {Asian Journal of Control},

volume = {19},

number = {1},

pages = {279--288},

note = {asjc.1370},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Oliva-Palomo2016,

title = {Position Estimation Improvement Using and Observer Based on Attractive Ellipsoid Method for a Quadrotor},

author = {Oliva-Palomo, F. and Sanchez-Orta, Anand and Alazki, Hussain},

year  = {2016},

date = {2016-07-15},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Garc\'{i}a-Rodriguez2016b,

title = {Dynamic optimal grasping of a circular object with gravity using robotic softfingertips},

author = {R. Garc\'{i}a-Rodriguez and V. Segovia-Palacios and Parra-Vega, Vicente and M. Villalva-Lucio},

year  = {2016},

date = {2016-06-06},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{P\'{e}rez-Alcocer2016,

title = {Vision-based Autonomous Underwater Vehicle Navigation in Poor Visibility Conditions using a Model-free Robust Control},

author = {Perez-Alcocer, R. R. and Torres-Mendez, Luz Abril and Olguin-Diaz, Ernesto and Maldonado-Ramirez, Alejandro },

year  = {2016},

date = {2016-06-06},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{journals/asc/VelascoDP16,

title = {Wavenet fuzzy PID controller for nonlinear MIMO systems: Experimental validation on a high-end haptic robotic interface.},

author = {Velasco Ramos, Luis Enrique and Dominguez-Ramirez, Omar Arturo and Parra-Vega, Vicente},

url = {http://dblp.uni-trier.de/db/journals/asc/asc40.html#VelascoDP16},

year  = {2016},

date = {2016-01-01},

journal = {Appl. Soft Comput.},

volume = {40},

pages = {199-205},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Izaguirre-Espinosa2016,

title = {Attitude control of quadrotors based on fractional sliding modes: theory and experiments},

author = {Izaguirre-Espinosa, Carlos and Mu\~{n}oz-Vazquez, Aldo Jonathan and Sanchez-Orta, Anand and Parra-Vega, Vicente and Castillo, Pedro},

year  = {2016},

date = {2016-01-01},

journal = {IET Control Theory \& Applications},

volume = {10},

number = {7},

pages = {825--832},

publisher = {IET},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Aldo-Jonathan2016,

title = {Uniformly continuous differintegral sliding mode control of nonlinear systems subject to H\"{o}lder disturbances},

author = {Mu\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},

year  = {2016},

date = {2016-01-01},

journal = {Automatica},

volume = {66},

pages = {179--184},

publisher = {Elsevier},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Izaguirre-Espinosa2016,

title = {Fractional attitude-reactive control for robust quadrotor position stabilization without resolving underactuation},

author = {Izaguirre-Espinosa, Carlos and Mu\~{n}oz-Vazquez, Aldo Jonathan and Sanchez-Orta, Anand and Parra-Vega, Vicente and G Sanahuja },

url = {http://www.sciencedirect.com/science/article/pii/S0967066116300867},

doi = {http://dx.doi.org/10.1016/j.conengprac.2016.04.016},

issn = {0967-0661},

year  = {2016},

date = {2016-01-01},

journal = {Control Engineering Practice},

volume = {53},

pages = {47 - 56},

abstract = {Quadrotors are Unmanned Aerial Systems (UAS), whose nonlinearities, uncertainties, and unavoidable aerodynamic disturbances stand for a difficult control problem. Additionally, the highly nonlinear coupling between the position and the orientation dynamics exacerbates the underactuation problem when the objective is the position tracking. In this paper, aiming at designing a robust position controller without resolving underactuation, a novel “reactive orientation control” is proposed. The orientation controller is model-free and it is build upon differintegral fractional operators to react to a continuous and bounded additive term that stands for an affine exogenous position controller. Such term indeed becomes an attitude disturbance that is purposely injected to displace the quadrotor towards the desired position of the underactuated coordinates. The closed-loop analysis shows that the norm of the transfer function between the disturbance and the position tracking error is minimized for a stable and robust position regime. Simulations and experimental results are given to discuss the feasibility of the proposed scheme.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{ParraVega2016209,

title = {Neurofuzzy self-tuning of the dissipation rate gain for model-free force-position exponential tracking of robots},

author = {Parra-Vega, Vicente and Garc\'{i}a-Rodr\'{i}guez, Rodolfo and Armendariz, Jorge },

url = {http://www.sciencedirect.com/science/article/pii/S0925231215008590},

doi = {https://doi.org/10.1016/j.neucom.2015.06.034},

issn = {0925-2312},

year  = {2016},

date = {2016-01-01},

journal = {Neurocomputing},

volume = {171},

pages = {209 - 219},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{MUNOZVAZQUEZ2015118,

title = {Control of Constrained Robot Manipulators based on Fractional Order Error Manifolds},

author = {Mu\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},

url = {http://www.sciencedirect.com/science/article/pii/S2405896315026440},

doi = {http://dx.doi.org/10.1016/j.ifacol.2015.12.020},

issn = {2405-8963},

year  = {2015},

date = {2015-01-01},

journal = {IFAC-PapersOnLine},

volume = {48},

number = {19},

pages = {118 - 123},

note = {11th IFAC Symposium on Robot Control SYROCO 2015},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{SANCHEZFRAIRE2015154b,

title = {On the Brain Computer Robot Interface (BCRI) to Control Robots},

author = {Sanchez-Fraire, U. and Parra-Vega, Vicente and Martinez-Peon, D. and Sepulveda-Cervantes, G. and Sanchez-Orta, Anand and Mu\~{n}oz-Vazquez, Aldo Jonathan},

url = {http://www.sciencedirect.com/science/article/pii/S2405896315026506},

doi = {http://dx.doi.org/10.1016/j.ifacol.2015.12.026},

issn = {2405-8963},

year  = {2015},

date = {2015-01-01},

journal = {IFAC-PapersOnLine},

volume = {48},

number = {19},

pages = {154 - 159},

note = {11th IFAC Symposium on Robot Control SYROCO 2015},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{GARCIARODRIGUEZ2015220,

title = {Dexterous Dynamic Optimal Grasping of a Circular Object subject to Gravity with Soft-fingertips},

author = {Garci­a-Rodri­guez, R. and Villalva-Lucio, M. and Parra-Vega, Vicente},

url = {http://www.sciencedirect.com/science/article/pii/S2405896315026610},

doi = {http://dx.doi.org/10.1016/j.ifacol.2015.12.037},

issn = {2405-8963},

year  = {2015},

date = {2015-01-01},

journal = {IFAC-PapersOnLine},

volume = {48},

number = {19},

pages = {220 - 225},

note = {11th IFAC Symposium on Robot Control SYROCO 2015},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{RAYGOSABARAHONA2015313,

title = {Control Libre de Modelo basado en Modos Deslizantes Integrales para Robots Submarinos Subactuados1},

author = {Raygoza-Barahona, Ruben and Olguin-Diaz, Ernesto and Parra-Vega, Vicente and Mu\~{n}oz-Ubando, L. A.},

url = {http://www.sciencedirect.com/science/article/pii/S1697791215000321},

doi = {http://dx.doi.org/10.1016/j.riai.2015.04.004},

issn = {1697-7912},

year  = {2015},

date = {2015-01-01},

journal = {Revista Iberoamericana de Automatica e Informatica Industrial RIAI},

volume = {12},

number = {3},

pages = {313 - 324},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Mu\~{n}oz-V\'{a}zquez2015,

title = {Continuous fractional sliding mode-like control for exact rejection of non-differentiable H\"{o}lder disturbances},

author = {Mu\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and S\'{a}nchez-Orta, Anand},

url = {https://academic.oup.com/imamci/article/34/2/597/2885232/Continuous-fractional-sliding-mode-like-control},

doi = {https://doi.org/10.1093/imamci/dnv064},

issn = {0265-0754},

year  = {2015},

date = {2015-00-00},

journal = {IMA Journal of Mathematic al Control and Information},

volume = {34},

abstract = {Exploiting algebraic and topological properties of differintegral operators as well as a proposed principle of dynamic memory resetting, a uniform continuous sliding mode controller for a general class of integer order affine non-linear systems is proposed. The controller rejects a wide class of disturbances, enforcing in finite-time a sliding regime without chattering. Such disturbance is of H\"{o}lder type that is not necessarily differentiable in the usual (integer order) sense. The control signal is uniformly continuous in contrast to the classical (integer order) discontinuous scheme that has been proposed for both fractional and integer order systems. The proposed principle of dynamic memory resetting allows demonstrating robustness as well as: (i) finite-time convergence of the sliding manifold, (ii) asymptotic convergence of tracking errors, and (iii) exact disturbance observation. The validity of the proposed scheme is discussed in a representative numerical study.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Sanchez-Orta2014,

title = {Position\textendashYaw Tracking of Quadrotors},

author = {Sanchez-Orta, Anand and Parra-Vega, Vicente and Izaguirre-Espinosa, Carlos and Garcia, Octavio},

url = {http://dynamicsystems.asmedigitalcollection.asme.org/article.aspx?articleid=2088643#Abstract},

doi = {10.1115/1.4029464},

issn = {002-0434},

year  = {2014},

date = {2014-12-19},

issuetitle = {Position-Yaw Tracking of Quadrotors},

journal = {Journal of Dynamic Systems, Measurement},

volume = {137},

abstract = {A yaw angle, different from zero, introduces highly nonlinear couplings in the rotational and translational quadrotor dynamics, implying undesirable motions. This argument has motivated that the position control problem of quadrotors is studied generally regulating yaw at zero. However, zeroing yaw limits the maneuverability of underactuated quadrotors because yaw is one of the four actuated motions. In this paper, the simultaneous tracking of position and time-varying heading is proposed, based on an integral sliding mode control with a quaternion-based sliding surface. An exponential tracking with chattering-free is obtained without requiring any knowledge of the dynamic model or its parameters for implementation. Since a linear invariant orientation error manifold is enforced for all time, a time-varying gain is introduced for a well-posed finite time convergence, which is useful not only to realize the virtual position control scheme, due to underactuation, but also to guarantee a desired contact in a given point at a given desired contact time for the yaw motion. Illustrative applications are explored in a simulation study which shows the viability and versatility of position\textendashyaw tracking in the surveillance of a field-of-view (FoV) target, aerial screw driver, and aerial grasping.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@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}

}

@article{Ramirez-Rodriguez2014,

title = {Robust Backstepping Control Based on Integral Sliding Modes for Tracking of Quadrotors},

author = {Ramirez-Rodriguez, Heriberto and Parra-Vega, Vicente and Sanchez-Orta, Anand and Garcia-Salazar, Octavio },

url = {http://dx.doi.org/10.1007/s10846-013-9909-4},

doi = {10.1007/s10846-013-9909-4},

issn = {1573-0409},

year  = {2014},

date = {2014-01-01},

journal = {Journal of Intelligent \& Robotic Systems},

volume = {73},

number = {1},

pages = {51--66},

abstract = {Modern non-inertial robots are usually underactuated, such as fix or rotary wing Unmanned Aerial Vehicles (UAVs), underwater or nautical robots, to name a few. Those systems are subject to complex aerodynamic or hydrodynamic forces which make the dynamic model more difficult, and typically are subject to bounded smooth time-varying disturbances. In these systems, it is preferred a formal control approach whose closed-loop system can predict an acceptable performance since deviations may produce instability and may lead to catastrophic results. Backstepping provides an intuitive solution since it solves underactuation iteratively through slaving the actuated subsystem so as to provide a virtual controller in order to stabilize the underactuated subsystem. However it requires a full knowledge of the plant and derivatives of the state, which it is prone to instability for any uncertainty; and although robust sliding mode has been proposed, discontinuities may be harmful for air- or water-borne nonlinear plants. In this paper, a novel robust backstepping-based controller that induces integral sliding modes is proposed for the Newton--Euler underactuated dynamic model of a quadrotor subject to smooth bounded disturbances, including wind gust and sideslip aerodynamics, as well as dissipative drag in position and orientation dynamics. The chattering-free sliding mode compensates for persistent or intermittent, and possible unmatched state dependant disturbances with reduced information of the dynamic model. Representative simulations are presented and discussed.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Armendariz:2014:NSP:2842034.2842100,

title = {Neuro-fuzzy Self-tuning of PID Control for Semiglobal Exponential Tracking of Robot Arms},

author = { Armendariz, Jorge and Parra-Vega, Vicente and Garcia-Rodriguez, Rodolfo and Rosales, Sergio },

url = {http://dx.doi.org/10.1016/j.asoc.2014.08.037},

doi = {10.1016/j.asoc.2014.08.037},

issn = {1568-4946},

year  = {2014},

date = {2014-01-01},

journal = {Appl. Soft Comput.},

volume = {25},

number = {C},

pages = {139--148},

publisher = {Elsevier Science Publishers B. V.},

address = {Amsterdam, The Netherlands, The Netherlands},

abstract = {Abstract

The PID controller with constant feedback gains has withstood as the preferred choice for control of linear plants or linearized plants, and under certain conditions for non-linear ones, where the control of robotic arms excels. In this paper a model-free self-tuning PID controller is proposed for tracking tasks. The key idea is to exploit the passivity-based formulation for robotic arms in order to shape the damping injection to enforce dissipativity and to guarantee semiglobal exponential convergence in the sense of Lyapunov. It is shown that a neuro-fuzzy network can be used to tune dissipation rate gain through a self-tuning policy of a single gain. Experimental studies are presented to confirm the viability of the proposed approach.



Graphical abstract},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{Munoz-Vazquez2014,

title = {A Passive Velocity Field Control for Navigation of Quadrotors with Model-free Integral Sliding Modes},

author = {Mu\~{n}oz-Vazquez, Aldo Jonathan and Parra-Vega, Vicente and Sanchez-Orta, Anand},

url = {http://dx.doi.org/10.1007/s10846-013-9892-9},

doi = {10.1007/s10846-013-9892-9},

issn = {1573-0409},

year  = {2014},

date = {2014-01-01},

journal = {Journal of Intelligent \& Robotic Systems},

volume = {73},

number = {1},

pages = {373--385},

abstract = {Velocity field (VF) control has proved effective for kinematic robots, aiming essentially at providing desired velocities for navigation along the field, and for obstacle avoidance in cluttered environments. When robot dynamics are involved, it is usually considered either that dynamics are known and that robot is fully actuated, thus it is not clear how to deal with VF control (VFC) for unknown underactuated dynamics, such as for a quadrotor. Moreover, passive VF (PVF) stands for an attractive methodology for quadrotors because of it yields time-invariant nominal spatial field for smooth approaching and easy manoeuvring. In this paper, we propose a constructive method to design a PVF-based controller with a chattering-free integral sliding modes for local exponential position tracking. The salient feature of our proposal is the passive nature of the field as well as the controller is model-free for the complete standard quasi-Lagrangian dynamic model of the quadrotor. The controller does not require the derivative nor any assumption on boundedness on the integral of the VF, yet the closed-loop withstands robustness against parametric and model uncertainties. Simulations are discussed, and remarks address the viability of the proposed approach.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@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}

}