Alberto JARDÓN HUETE

Alberto JARDÓN HUETE
University Carlos III de Madrid | UC3M · Department of Systems Engineering and Automation

Doctor of Engineering
rehabilitation & assistive robotics, exergames, gammification of therapies

About

134
Publications
47,189
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Introduction
Alberto Jardón Huete (IEEE M’07-SM’13) received the B.Sc. degree in Electronics Engineering, the master’s degree in Electrical Engineering, and the Ph.D. degree in electric, electronics, and Industrial Automation Engineering from Universidad Carlos III de Madrid, in 1998, 2002, and 2006, respectively. Since 1997, he has been an active member of the Robotics Lab and has collaborated in the development of the climbing robots ROMA I, ROMA II, and MATS (also named ASIBOT). He has participated in numerous EU projects since 2001, like Brite project FutureHome; IST project MATS; 6FP IP projects ManuBuild, I3CON, Tunconstruct; Strep project RobotCWE; 7FP project RoboSpect; and H2020 projects STAMS (technical manager ) and BADGER. IP of several EU and Among then several tunneling and mining projects funded by several industrial clients and European and National Funding. His research is focused on different projects to apply robotics technologies from underground, building, and aerospace industries. He is also responsible for the Assistive Robotics Technologies Lab at the PCT link. He is also focused on the design and development of professional and personal robotic devices for autonomy restoration, such as light-weight service robots, technical aids and the development of applied algorithms, and the design of custom controllers. He holds eight patents. His interests include assistive robotic design, mechatronics, the research in advanced “user in the loop” control schemes to improve usability, and the performance of domestic robots. The development of tools to perform this research and the transfer of robotics technology to industry also fit to his priorities. He received several awards, among them for IMSERSO’s Award 2004 for assistive robots research, the Industrial Robot journal Innovation Award of the Clawar’2005 in London (UK), and Fundación Caser Dependencia y Sociedad, I+D and Fundación Universia a Proyectos Inclusivos, both in 2013, due to development of assistive technologies results and the associated patents, and the transfer of robotics technology to industry. [ORCID iD](https://orcid.org/0000-0002-3734-7492) [Scholar profile](https://www.linkedin.com/hp/?dnr=GTFKKLnj-TH8GDDpv8dF5bgUZ0PxiFXVFm) [View Alberto Jardón Huete's profile on LinkedIn](http://www.linkedin.com/img/webpromo/btn_profile_bluetxt_80x15.png)
Additional affiliations
February 2000 - present
Universidad Carlos III de Madrid
Education
February 2002 - October 2006
University Carlos III de Madrid
Field of study
  • Assistive Robots Desing principles and practice. Implementation of ASIBOT portable climbing robot.

Publications

Publications (134)
Article
Full-text available
Multiple sclerosis (MS) is the most common inflammatory neurological disease in young adults, with a high prevalence worldwide (2.8 million people). To aid in the MS treatment, using VR tools in cognitive and motor rehabilitation of such disease has been growing progressively in the last years. However, the role of VR as a rehabilitative tool in MS...
Article
Full-text available
Background: The objective of the present study was to develop a virtual reality protocol based on activities of daily living and conventional rehabilitation, using Leap Motion Controller to improve motor function in upper extremity rehabilitation in stroke patients. At the same time, the purpose was to explore its efficacy in the recovery of upper...
Conference Paper
PRESSMATIC es un dispositivo electromecánico que genera movimientos automáticos de apertura y cierre en su extremo. Está dirigido a personas que conservan movilidad en las extremidades superiores, pero carecen de destreza manual para utilizar herramientas pequeñas como tijeras, cortaúñas o pinzas. En el desarrollo tecnológico del dispositivo, se ha...
Chapter
At present, rehabilitation robotics field has stressed on developing systems for enhancing the rehabilitation cycle, considering primarily the intervention stage of the process. However, the assessment of functional problems is essential to define optimal rehabilitation treatments. This paper presents a robot-based strategy for the evaluation of a...
Article
Full-text available
Spasticity is a motor disorder that causes stiffness or tightness of the muscles and can interfere with normal movement, speech, and gait. Traditionally, the spasticity assessment is carried out by clinicians using standardized procedures for objective evaluation. However, these procedures are manually performed and, thereby, they could be influenc...
Conference Paper
Objective assessment of motor function is essential in neurological rehabilitation to determine the effectiveness of treatments, being one of the most commonly used clinical tests the Fugl-Meyer Assessment (FMA). This multi-item and performance-based test evaluate different functional aspects including balance and motor functioning. This paper pres...
Article
Full-text available
Background: Dexterity and activities of daily living limitations on the upper limb (UL) represent one of the most common problems in patients with multiple sclerosis (MS). The aim of this study was to evaluate the effectiveness of the specially developed Serious Games that make use of the Leap Motion Controller (LMC) as main user interface for impr...
Article
Full-text available
In recent decades, gaming technology has been accepted as a feasible method for complementing traditional clinical practice, especially in neurorehabilitation; however, the viability of using 3D Virtual Reality (VR) for the assessment of upper limb motor function has not been fully explored. For that purpose, we developed a VR-based version of the...
Article
Full-text available
Background: Parkinson's disease is a neurodegenerative disorder that causes impaired motor functions. Virtual reality technology may be recommended to optimize motor learning in a safe environment. The objective of this paper was to evaluate the effects of a novel immersive virtual reality technology used for serious games (Oculus Rift 2 plus leap...
Conference Paper
This paper presents the implementation of a modular framework that allows the integration of different peripheral components towards facilitating the control of an assistive robotic arm. For that purpose, several components, such as proximity sensors, an RGB camera and a joystick, were integrated into the same control paradigm of the robotic arm. F...
Preprint
Full-text available
Background: Dexterity and activities of daily living limitations on the upper limb (UL) represent one of the most common problems in patients with multiple sclerosis (MS). The aim of this study was to evaluate the effectiveness of the specially developed Serious Games that make use of the Leap Motion Controller (LMC) as main user interface for impr...
Conference Paper
Full-text available
En este artículo, se presenta el desarrollo de un sistema basado en sensores de proximidad que permite obtener de forma automática la puntuación del Box and Blocks Test (BBT), destinado a medir la destreza manual gruesa. La evaluación del BBT se basa en el máximo número de cubos desplazados en una ventana de tiempo. Por ese motivo, se han utilizado...
Preprint
Full-text available
Background: Dexterity and activities of daily living limitations on the upper limb (UL) represent one of the most common problems in patients with multiple sclerosis (MS). The aim of this study was to evaluate the effectiveness of the specially developed Serious Games that make use of the Leap Motion Controller (LMC) as main user interface for impr...
Preprint
Full-text available
Background: Dexterity and activities of daily living limitations on the upper limb (UL) represent one of the most common problems in patients with multiple sclerosis (MS). The aim of this study was to evaluate the effectiveness of the specially developed Serious Games that make use of the Leap Motion Controller (LMC) as main user interface for impr...
Article
Full-text available
Navigation and exploration in 3D environments is still a challenging task for autonomous robots that move on the ground. Robots for Search and Rescue missions must deal with unstructured and very complex scenarios. This paper presents a path planning system for navigation and exploration of ground robots in such situations. We use (unordered) point...
Article
Full-text available
The development of computer vision algorithms for navigation or object detection is one of the key issues of underwater robotics. However, extracting features from underwater images is challenging due to the presence of lighting defects, which need to be counteracted. This requires good environmental knowledge, either as a dataset or as a physic mo...
Article
Full-text available
Background: Non-immersive video games are currently being used as technological rehabilitation tools for individuals with Parkinson's disease (PD). The aim of this feasibility study was to evaluate the effectiveness of the Leap Motion Controller® (LMC) system used with serious games designed for the upper limb (UL), as well as the levels of satisf...
Conference Paper
Full-text available
Assessment of motor impairments is manually performed by clinicians based on traditional clinical scales. This manual process may be affected by the observer's subjectivity. This paper suggests a robot-based framework for the objective assessment of upper extremity (UE) motor functionality.
Conference Paper
Full-text available
A día de hoy, el desarrollo de sistemas robóticos de asistencia en procedimientos de rehabilitación ha sido elevado. Sin embargo, existen ciertas aspectos que limitan un uso más extendido. Una posible causa puede ser que las mejoras en función motora no son traspasadas directamente al desarrollo de actividades de la vida diaria. Esto puede provenir...
Article
Full-text available
In recent years, the possibility of using serious gaming technology for the automation of clinical procedures for assessment of motor function have captured the interest of the research community. In this paper, a virtual version of the Box and Blocks Test (BBT) for manual dexterity assessment is presented. This game-like system combines the classi...
Conference Paper
Opportunities of using Virtual Reality (VR) technology for the automation of clinical procedures in general, and for the assessment of motor function in particular, have not been fully explored in Parkinson' disease (PD). For that purpose, a game-like version of the Box and Blocks Test (BBT) for automatic assessment of hand motor function in VR was...
Article
Full-text available
Robot-aided systems to support the physical rehabilitation of individuals with neurological impairment is one of the fields that has been widely developed in the last few decades. However, the adoption of these systems in clinical practice remains limited. In order to better understanding the causes of this limitation, a systematic review of robot-...
Article
Full-text available
Traditionally, the assessment of upper limb (UL) motor function in neurorehabilitation is carried out by clinicians using standard clinical tests for objective evaluation, but which could be influenced by the clinician’s subjectivity or expertise. The automation of such traditional outcome measures (tests) is an interesting and emerging field in ne...
Chapter
This paper presents a preliminary study on the effectiveness of using a virtual environment for automation of the Fugl-Meyer Assessment (FMA) scoring. Also, a study of the feasibility of introducing a smoothness parameter to improve the scoring is described. A Kinect-based virtual environment was used for data acquisition and to enable a friendly m...
Conference Paper
Full-text available
Robotics can play a significant role in the rehabilitation of patients with spasticity by improving their early diagnosis and reducing the costs associated with care. Spasticity is a muscle control disorder characterized by an increase in muscle tone with exaggerated stretch reflexes, as one component of the upper motor neuron syndrome. Furthermore...
Article
Full-text available
Objective assessment of motor function is an important component to evaluating the effectiveness of a rehabilitation process. Such assessments are carried out by clinicians using traditional tests and scales. The Box and Blocks Test (BBT) is one such scale, focusing on manual dexterity evaluation. The score is the maximum number of cubes that a per...
Article
This work reviews the results of a challenging engineering project that arose with the goal of implementing an electro-mechanical, automatic, portable, and inexpensive device. The device should be able to assist people who lack of dexterity in their hands to use small tools and everyday utensils, such as scissors or tweezers. In this article, the h...
Conference Paper
Serious Games and Virtual Reality (VR) are being considered at present as an alternative to traditional rehabilitation therapies. In this paper, the ongoing development of a framework focused on rehabilitation and assessment of the upper limb motor function based on serious games as a source of entertainment for physiotherapy patients is described....
Article
Full-text available
The design and application of Serious Games (SG) based on the Leap Motion sensor are presented as a tool to support the rehabilitation therapies for upper limbs. Initially, the design principles and their implementation are described, focusing on improving both unilateral and bilateral manual dexterity and coordination. The design of the games has...
Article
Full-text available
Robot-mediated neurorehabilitation is a growing field that seeks to incorporate advances in robotics combined with neuroscience and rehabilitation to define new methods for treating problems related with neurological diseases. In this paper, a systematic literature review is conducted to identify the contribution of robotics for upper limb neuroreh...
Article
Full-text available
The computational complexity of humanoid robot balance control is reduced through the application of simplified kinematics and dynamics models. However, these simplifications lead to the introduction of errors that add to other inherent electro-mechanic inaccuracies and affect the robotic system. Linear control systems deal with these inaccuracies...
Conference Paper
Full-text available
In previous work [1], an automatic assessment system was presented for the evaluation of patient progress and effectiveness of the therapy, that is based on the Box and Blocks Test (BBT) of manual dexterity. In this article, a study of the feasibility to use in Parkinson treatment is presented. The results advocates the use of automated methods in...
Conference Paper
Full-text available
Traditional motor assessment is carried out by clinicians using standard clinical tests in order to have objectivity in the evaluation, but this manual procedure is liable to the observer subjectivity. In this article, an automatic assessment system based on the Box and Blocks Test (BBT) of manual dexterity is presented. Also, the automatic test ad...
Conference Paper
Full-text available
RoboHealth is a project that is focused on giving assistance to medical staff in order to improve the quality of treatment provided to patients in rehabilitation processes. The project covers two aspects during the rehabilitation process: assessment and therapy itself. In previous work [1], an automatic assessment system was presented for the evalu...
Conference Paper
Full-text available
El cada vez más elevado número de personas que requieren atención médica para rehabilitación física o cognitiva (post-traumática, post-operatoria o por envejecimiento), supone cada vez mayor saturación en los servicios médicos. Esto repercute de forma negativa en la calidad del tratamiento impartido. El proyecto RoboHealth, intenta contribuir a pal...
Article
Full-text available
The teleoperation of robot manipulators over the internet suffers from variable delays in the communications. Here we address a tele-assistance scenario, where a remote operator assists a disabled or elderly user on daily life tasks. Our behavioral approach uses local environment information from robot sensing to help enable faster execution for a...
Chapter
Full-text available
PRESSMATIC is a portable electromechanical device which was designed to assist people whose manual dexterity has been impaired for any reason (ageing, illness, paralysis, etc.). Its goal is restoring the loss of functionali-ty of the thumb and forefinger in certain tasks that require pinching movements (e.g. grabbing scissors, tweezers, etc.). In t...
Article
Full-text available
Los actuadores de rigidez variable son dispositivos que permiten cambiar la posicíon y rigidez articular de un robot en forma simult́ultimos ãnado y desarrollado muchos dispositivos de este tipo, con la esperanza de favorecer la anea. En los ́nos se han disẽseguridad en la interaccíon humano-robot y mejorar el rendimiento dińamico de los robots. En...
Article
Full-text available
Much work in robotics aimed at real-world applications falls in the large segment between teleoperated and fully autonomous systems. Such systems are characterized by the close coupling between the human operator and the robot, in principle, allowing the agents to share their particular sensing, adaptation, and decision-making capabilities. Replica...
Article
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Humanoids can learn motor skills through the Programming by Demonstration (PbD) framework, which allows matching the kinematic movements of a robot with those of a human. Continuous Goal- Directed Actions (CGDA) is a framework that can complement the paradigm of robot imitation. Instead of kinematic parameters, its encoding is centered on the chang...
Article
Full-text available
Nowadays, the vast majority of the tunnel inspection processes are performed manually by qualified operators. The process is subjective and the operators need to face very uncomfortable and even dangerous conditions such as dust environments, absence of light, or toxic substance exposition. Robotic technology can overcome many of these disadvantage...
Conference Paper
Full-text available
Mental models allow us to imagine how something may be, only by its description. This video presents a use-case demonstration of a high-dimensional geometrical system for acquiring mental models for robots, called Robot Imagination System (RIS). RIS generates models of objects based on their descriptive words, even prior to their perception. This i...
Conference Paper
Postural control of humanoid robots during locomotion tasks has been typically focused in keeping balance by means of classic feedback control systems. The study of human behaviour in postural control reveals the existence of an anticipative component for postural control introduced by means of a feedforward system. This anticipative subsystem is i...
Conference Paper
Full-text available
One of the grand challenges for the robotics community is to create robots that operate robustly in real-world scenarios. Most current robots are limited to factories, laboratories or similar controlled settings. This contrasts with the seeming ease with which insects, animals and humans handle uncertainty, dynamic events and complexity. Assistive...
Article
Full-text available
In this paper, we present an accessible interface in the context of our work on bringing advanced robotics closer to everyday domestic users. This interface allows inexperienced users to be capable of programming an assistive robotic arm to perform a specific desired task in a household environment. The programming process is performed through the...
Conference Paper
Full-text available
In this paper, we study how human-robot interaction can be beneficial on the Continuous Goal-Directed Actions (CGDA) framework. Specifically, a system for robot discovery of motor primitives from random human-guided movements has been developed. These guided motor primitives (GMP) are used as scaffolds to reproduce a goal-directed actions. CGDA enc...
Conference Paper
Full-text available
Tunnels environments are characterized by dust, humidity, and absence of natural light. Artificial and natural impacts, change in load criteria, or the simple effect of ageing, make tunnels require inspection and maintenance. These operations are commonly performed by human workers taking time and expertise without guarantee quality control. Roboti...
Conference Paper
Full-text available
Microtunneling is a trenchless construction method that is highly adequate to install pipelines beneath roads, rail roads, dams, harbours and environmentally sensitive areas. Microtunneling could be understood as a remotely-controlled, guidance operation of a MicroTunneling Boring Machine (MTBM), where references are provided by a human operator fr...
Conference Paper
Full-text available
Programming by demonstration (PbD) allows matching the kinematic movements of a robot with those of a human. The presented Continuous Goal-Directed Actions (CGDA) is able to additionally encode the effects of a de-monstrated action, which are not encoded in PbD. CGDA allows generalization, recognition and execution of action effects on the environm...
Patent
Full-text available
La invención proporciona un sistema para la verificación de la trayectoria de un túnel (1). Este sistema comprende, al menos una superficie de recepción adecuada para la recepción de luz láser (3, 13), sensores (4, 14) adecuados para capturar datos sobre la incidencia del láser (9) en la al menos una superficie adecuada para la recepción de luz lás...
Article
Full-text available
Visibility graphs are basic planning algorithms,widely used in mobile robotics and other disciplines. The construction of a visibility graph can be considered a tool based on geometry that provides support to planning strategies in mobile robots. Visually, the method is used to solve that planning, which is quite extended due to the simplicity of o...