Engenharia Elétrica

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http://repositorio.ufes.br/handle/10/17617
Programa de Pós-Graduação em Engenharia Elétrica

Centro: CT
Telefone: (27) 4009 2663
URL do programa: https://engenhariaeletrica.ufes.br/pt-br/pos-graduacao/PPGEE

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Navegando Engenharia Elétrica por Autor "Alsina, Pablo Javier"

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    Design and Implementation of Electronic Architecture for Cloud Robotics and Human-Robot-Environment Interaction Strategy Applied to SmartWalker
    (Universidade Federal do Espírito Santo, 2021-12-13) Rocha Júnior, Joelson de Carvalho; Frizera Neto, Anselmo; https://orcid.org/0000000206873967; http://lattes.cnpq.br/8928890008799265; Alsina, Pablo Javier; Diaz, Camilo Arturo Rodriguez; Mello, Ricardo Carminati de
    Techniques for Human-Robot-Environment Interaction allow sharing control between assistive devices, such as smart walkers, and its users by taking into account the human motion intention and dynamic environments composed of objects and people. Smart Walkers are service robots equipped with a series of sensors and actuators to provide locomotion assistance to impaired people. The complexity in the algorithms to process all the sensors data push researchers to study and explore concepts of cloud computing, called cloud robotic paradigms, in such platforms. This dissertation presents the design and development of an electronic architecture for cloud robotics applied to Smart Walker. Through this implementation, the robotic device, from now called UFES CloudWalker, is capable of acquiring and transferring data to a robust virtual machine which process and convert them in to control signals to the robot actuators. This Master’s Thesis presents a study of smart walkers as assistive devices, as well as, control interaction strategies between the human, the robotic device and the environment. Moreover, we developed a robot environment interaction strategy which was evaluated in simulation and validated in real environment. The results showed the reliability of this strategy and boosted the development of a Human-Robot-Environment Interaction strategy in the same robotic device by adding information of the user’s legs. Finally, we validated this strategy in real environment with static and dynamic obstacles. The results show that the UFES CloudWalker adapts its behaviour accordingly changes in the environment and the user motion intentions.
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    Development of a Mixed Reality Environment for the Rehabilitation of People with Impaired Mobility Using Gait Support Strategies
    (Universidade Federal do Espírito Santo, 2024-04-22) Machado, Fabiana Santos Vieira; Díaz, Camilo Arturo Rodríguez; https://orcid.org/0000-0001-9657-5076; http://lattes.cnpq.br/2410092083336272; Frizera Neto, Anselmo; https://orcid.org/0000-0002-0687-3967; http://lattes.cnpq.br/8928890008799265; https://orcid.org/0000-0003-0996-8651; http://lattes.cnpq.br/2705690076290294; Lima, Eduardo Rocon de; https://orcid.org/0000-0001-9618-2176; http://lattes.cnpq.br/6623746131086816; Alsina, Pablo Javier; https://orcid.org/0000-0002-2882-5237; http://lattes.cnpq.br/3653597363789712; Hernández, Mario Fernando Jiménez; https://orcid.org/0000-0003-0965-277X; http://lattes.cnpq.br/6078067029625341; Mello, Ricardo Carminati de; https://orcid.org/0000-0003-0420-4273; http://lattes.cnpq.br/1569638571582691
    Mobility significantly impacts quality of life, yet various health conditions can hinder it. These challenges are not limited to disease or injury-related impairments but also extend to age-related physical, cognitive, and sensory function losses. Smart Walkers and rehabilitation robotics offer solutions to improve functional capabilities and tailor therapy to individual needs, and in conjunction with Mixed Reality (MR), can also enhance motivation. This Doctoral Thesis aims to integrate advanced human-robot interfaces withMixed Reality to develop effective rehabilitation strategies. The UFES vWalker, a novel robotic assistance device introduced in this thesis, utilizes sensor interfaces to translate users' movement intentions into safe navigation. Integrated into an MR system, it combines virtual and physical environments and sensors, offering multimodal sensory feedback and enhanced human-robotenvironment interaction. The initial experiment with the MR system integrated haptic and visual feedback. Haptic feedback simulated an impedance tunnel to aid movement along the path, while visual feedback displayed the path in the virtual environment. Users with visual feedback completed tasks faster than those with only haptic feedback. The following experiment introduced a multimodal feedback system to assist visually impaired individuals in navigation. It included two main feedback systems: audio cues to guide users and vibration alerts for virtual obstacles. To prevent volunteers from viewing the virtual environment, visual feedback from the Oculus Quest headset, was disabled, creating a virtual blindfold. Three control strategies were used, each one designed for people with different residual mobility and cognitive capabilities. The strategies that offer more and less autonomy were more successful among volunteers, and exhibited similar mental, and physical demand. In the last experiment, a virtual obstacle avoidance strategy was introduced, utilizing a virtual laser sensor. This approach allowed users to move freely until an obstacle was detected, upon which the controller assists in navigating around it. Moreover, an interface was created to offer visual feedback on the key elements of the developed strategy. The volunteers found the MR system enjoyable, realistic, and encountered minimal confusion or difficulty during the experiment. Also, volunteers who received no introductory explanation about the interface were mostly able to infer their purpose. Therefore, it is clear that MR systems can provide considerable benefits to users who use rehabilitation assistance devices.
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    Effects of human-robot interaction in smart walker-assisted locomotion using mixed reality scenarios
    (Universidade Federal do Espírito Santo, 2025-01-01) Loureiro, Matheus Penido; Frizera Neto, Anselmo; https://orcid.org/0000-0002-0687-3967; http://lattes.cnpq.br/8928890008799265; http://lattes.cnpq.br/5058609108829074 ; Lima, Eduardo Rocon de; https://orcid.org/0000-0001-9618-2176; http://lattes.cnpq.br/6623746131086816 ; Alsina, Pablo Javier; https://orcid.org/0000-0002-2882-5237; http://lattes.cnpq.br/3653597363789712
    The decline in neuromusculoskeletal function in older adults can significantly affect their motor control, independence, and walking ability, ultimately reducing their quality of life. With the global aging population on the rise, supporting independent mobility and enhancing rehabilitation techniques have become critical goals. The use of augmentative devices, such as smart walkers (SW) can help providing mobility assistance and enhancing residual movement capacity. SWs stand out among these devices by offering active physical support, fall prevention, as well as cognitive and navigation assistance. Despite these improvements, people may still experience frustration due to repetitive tasks and discomfort during recovery, which can lead to higher dropout rates in rehabilitation programs. In this context, integrating rehabilitation devices with mixed reality (MR) tools offers a promising approach for gait training and rehabilitation, potentially improving clinical outcomes, motivation, and adherence to therapy. However, concerns about MR-induced cybersickness and potential changes in gait patterns remain. This master's dissertation investigates the gait parameters of fourteen elderly participants under three conditions: free walking (FW), SW assisted gait (AG), and SW assisted gait combined with MR assistance (AGMR). Kinematic data from both lower limbs were captured using a 3D wearable motion capture system to evaluate the kinematic changes associated with SW use and how MR integration may influence these adaptations. Additionally, cybersickness symptoms were assessed using a questionnaire after the AGMR condition. The results reveal significant kinematic differences between FW and both AG and AGMR,with reductions in sagittal plane motion of 16%, 25%, and 38% at the hip, knee, and ankle, respectively, in both AG and AGMR compared to FW. However, no significant differences were observed between AG and AGMR gait parameters, and no MR-related adverse effects were reported. These findings suggest that MR can be effectively incorporated into walker-assisted gait rehabilitation without negatively impacting kinematic performance, while offering potential benefits for motivation and therapy adherence.
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    Handling complex smart walker interaction strategies with Behavior Trees
    (Universidade Federal do Espírito Santo, 2022-10-24) Cardoso, Paula Alcantara; Frizera Neto, Anselmo; https://orcid.org/0000000206873967; http://lattes.cnpq.br/8928890008799265; Alsina, Pablo Javier; Lima, Eduardo Rocon de
    Walking is an activity that requires mastering stability and precision in order to be learned. Between the ages of 8 and 10, gait becomes an automatic activity, which once mastered does not depend on the attention of individuals. Mechanical factors and diseases, such as Parkinson’s and spinal cord injuries, as well as physical and cognitive conditions, can contribute to the quality of gait, which starts to present different types of disorders. With the increase of life expectancy and the share of the population over 65 years old, there is a concern regarding the demands for accessibility, rehabilitation and assistance, since they suffer from the reduction of their balance and mobility capacities. In this context, mobility assistance devices are valuable options to meet the needs of their users. Walkers, in particular, are alternatives for those who have residual motor skills. Its adoption postpones the use of wheelchairs and encourages the independence of its users. The inclusion of technologies, such as sensors and actuators, in the structure of walkers makes them intelligent, as they allow the incorporation of new functionalities that provide greater and better assistance for locomotion. The devices called robotic or smart walkers have several modules and control strategies that make their operation - and understanding - complex. This Master’s Dissertation proposes the inclusion of an artificial intelligence algorithm, based on a hierarchical architecture, for decision making that is capable of integrating several control strategies human-robot-environment interactions in the UFES CloudWalker. The algorithm implemented was the Behavior Tree, a structure that allows switching between controllers in a modular and reactive way. The system was validated by volunteers who performed a series of tasks aimed at evaluating the global performance of the smart walker. As a result, the system proved to be able to handle complex interactions between user, walker and the environment during navigation.
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    Modelagem e compensação da dinâmica de robôs móveis e sua aplicação em controle de formação
    (Universidade Federal do Espírito Santo, 2009-03-06) Martins, Felipe Nascimento; Bastos Filho, Teodiano Freire; Carelli, Ricardo; Sarcinelli Filho, Mário; Fardin, Jussara Farias; Alsina, Pablo Javier; Amaral, Paulo Farias Santos; Dynnikov, Vladimir Ivanovitch
    A new dynamic modeling approach for unicycle-like mobile robots is proposed, which is applied in the design of controllers for this type of robot. The dynamic model thus generated accepts linear and angular velocities as inputs, which is usual in commercial robots. Some of its properties are studied and proved, and are then used in the design of adaptive controllers that compensate for the robot dynamics while tracking a desired trajectory, following a leader or being part of a group in formation control problems. The Lyapunov theory is used on the stability analysis of the equilibrium in every case. A robustness analysis considering possible parameter variation and non-modeled disturbance is also performed. The influence of the dynamic compensation is studied, and its importance is illustrated by a performance index measured for both simulation and experimentation. Three formation control strategies with dynamic compensation are presented: one is a decentralized leader-follower control, and the other two are centralized virtual structure control. A Multi-Layer Scheme for formation control is here presented using one of the centralized formation control strategies. Such scheme is flexible in the sense that each part of the formation control problem is solved by an independent module. The proposed formation controller is capable of making the robots achieve a fixed desired formation, and to follow a desired formation having time-varying position and shape. The influence of the dynamic compensation on this formation control scheme is analyzed and illustrated through both simulation and experimental results.
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    Um sistema autônomo para navegação de cadeiras de rodas robóticas orientadas a pessoas com deficiência motora severa
    (Universidade Federal do Espírito Santo, 2009-08-05) Celeste, Wanderley Cardoso; Sarcinelli Filho, Mário; Carelli, Ricardo; Bastos Filho, Teodiano Freire; Ferreira, Edson de Paula; Salles, Jose Leandro Félix; Alsina, Pablo Javier; Amaral, Paulo Farias Santos
    This dissertation proposes a solution to the problem met by people with severe motordiseases, which have full incapacity of moving around by themselves, but keep intact their cognitive abilities. Such a solution is a navigating system for a Robotic Wheelchair, which consists of a control system, a reference generating system and a supervisory system. The control system comprises a set of kinematic controllers to execute speci c tasks, besides a dynamic compensation controller capable to adapt itself in the presence of structured uncertainties and being robust to unstructured uncertainties. The robust adaptive dynamic compensator is based on a dynamic model of the robotic wheelchair carrying a user seated. Speci c tasks are accomplished by the reference generator based on a user command and vehicle information. User commands establish poses of interest to be reached by the robotic wheelchair after following a safe route. To split a general task in speci c ones is the strategy here adopted to reduce the complexity of the navigating system, which should also take care of the safety and comfort of the user. The supervisory system is responsible for an adequate coordination of the kinematic controllers, in addition to perform a sequence of speci c tasks. Simulation and experimentation results show the good performance of the system, even when submitted to changes caused by a user on board the vehicle and by external e ects.
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    Virtualização de ambientes em tempo real para interação multimodal : teleoperação com uso de realidade mista e feedback háptico
    (Universidade Federal do Espírito Santo, 2025-09-06) Vieira, Igor Batista; Mello, Ricardo Carminati de; ttps://orcid.org/0000-0003-0420-4273; http://lattes.cnpq.br/1569638571582691; Frizera Neto, Anselmo; https://orcid.org/0000-0002-0687-3967; http://lattes.cnpq.br/8928890008799265; https://orcid.org/0009-0007-9547-4485; http://lattes.cnpq.br/; Rodríguez Díaz, Camilo Arturo; https://orcid.org/0000-0001-9657-5076; http://lattes.cnpq.br/2410092083336272; Alsina, Pablo Javier; https://orcid.org/0000-0002-2882-5237; http://lattes.cnpq.br/3653597363789712
    Conventionalteleoperationinterfaces, basedontwo-dimensionalmonitorsandnon immersive controllers, present significant limitations for human-robot interaction. The absence of depth perception, restricted field of view, and high cognitive load hinder the operator’s ability to build an accurate mental model of the remote envi ronment, reducing the effectiveness of robot control. In this context, the integration of immersive technologies and haptic devices emerges as an alternative to enhance the user’s sense of presence, overcome perceptual barriers, and make teleoperation more natural and efficient. To address these challenges, this dissertation proposes the development of a multi modal teleoperation system, composed of a mobile robotic platform equipped with perception sensors, a simultaneous localization and mapping (SLAM) module, and an immersive interface based on Virtual Reality integrated with a haptic device. The architecture was designed to operate in a distributed manner, with processing shared between the robot and the operator station, enabling the construction of a low-latency digital twin. Two experimental studies were conducted: the first vali dated the accuracy of the visual mapping system compared to classical approaches, while the second evaluated the haptic interface in user teleoperation tasks. The results obtained confirmed the hypothesis that the combination between Vir tual Reality and haptic feedback provides a telepresence experience superior to tra ditional solutions. The system demonstrated robustness in environment mapping, low response time in data transmission, and an increased sense of immersion re ported by the users. Specifically, the user study demonstrated that the immersive interface was able to reduce the average number of collisions from 3.00 to less than 0.3 and decrease the perceived workload (NASA-TLX) by more than 50%. These f indings highlight the potential of the proposed approach as a relevant contribution to the advancement of robotic teleoperation, with possible applications in remote inspection, hazardous environments, and human-robot collaboration systems.