Ana Cisnal

University of Valladolid | UVA · Department of Electronic Technology

Augmented reality applications involving human interaction with virtual objects often rely on segmentation-based hand detection techniques. Semantic segmentation can then be enhanced with instance-specific information to model complex interactions between objects, but extracting such information typically increases the computational load significan...

La rehabilitación es crucial para pacientes que han sufrido un accidente cerebrovascular. En este ámbito, los sistemas robóticos posibilitan ejercicios repetitivos y precisos, esenciales para la recuperación motora. RobHand, un exoesqueleto de mano desarrollado por el Instituto de Tecnologías Avanzadas de la Producción de la Universidad de Valladol...

Partially automated robotic systems, such as camera holders, represent a pivotal step towards enhancing efficiency and precision in surgical procedures. Therefore, this paper introduces an approach for real-time tool localization in laparoscopy surgery using convolutional neural networks. The proposed model, based on two Hourglass modules in series...

Background: Prolonged hospitalization in severe COVID-19 cases can lead to substantial muscle loss and functional deterioration. While rehabilitation is essential, conventional approaches face capacity challenges. Therefore, evaluating the effectiveness of robotic-assisted rehabilitation for patients with post-COVID-19 fatigue syndrome to enhance b...

Physical therapy plays a crucial role in the motor recovery. Rehabilitation robots have emerged as significant advancement, enabling repetitive therapeutic interventions in both clinical and home settings. In this context, the development of a highly functional, reliable, portable, and cost-effective mechatronic systems for wrist and hand rehabilit...

Real-time hand segmentation is a key process in applications that require human–computer interaction, such as gesture recognition or augmented reality systems. However, the infinite shapes and orientations that hands can adopt, their variability in skin pigmentation and the self-occlusions that continuously appear in images make hand segmentation a...

El Comité Español de Automática (CEA) es una asociación científica sin ánimo de lucro que impulsa el desarrollo, la investigación y las enseñanzasuniversitarias en Automática. Es miembro nacional de la Federación Internacional de Control Automático (IFAC), y celebra anualmente desde el año 1977 las Jornadas de Automática. Estas se organizan por dis...

Introduction: Laparoscopic surgery often relies on a fixed Remote Center of Motion (RCM) for robot mobility control, which assumes that the patient’s abdominal walls are immobile. However, this assumption is inaccurate, especially in collaborative surgical environments. In this paper, we present a force-based strategy for the mobility of a robotic...

The effectiveness of EMG biofeedback with neurorehabilitation robotic platforms has not been previously addressed. The present work evaluates the influence of an EMG-based visual biofeedback on the user performance when performing EMG-driven bilateral exercises with a robotic hand exoskeleton. Eighteen healthy subjects were asked to perform 1-min r...

Biocooperative control uses both biomechanical and physiological information of the user to achieve a reliable human-robot interaction. In the context of neuromotor rehabilitation, such control can enhance rehabilitation experience and outcomes. However, the high cost and large volume of the commercial systems for physiological signal acquisition a...

Cerebrovascular accidents have physical, cognitive and emotional effects. During rehabilitation, the main focus is placed on motor recovery, yet the patient’s emotional state should also be considered. For this reason, validating robotic rehabilitation systems should not only focus on their effectiveness related to the physical recovery but also on...

Medical instruments detection in laparoscopic video has been carried out to increase the autonomy of surgical robots, evaluate skills or index recordings. However, it has not been extended to surgical gauzes. Gauzes can provide valuable information to numerous tasks in the operating room, but the lack of an annotated dataset has hampered its resear...

Background: The development of rehabilitation robotic systems has experienced significant growth in recent years. Electromyography (EMG) is commonly used to drive this kind of robots. Although there are some studies that have assessed the effectiveness of EMG biofeedback in neurorehabilitation, none of them has applied this technique in combination...

The RobHand (Robot for Hand Rehabilitation) platform supports EMG-driven assisted bilateral therapy enabling active-assistive training. The robotic rehabilitation platform incorporates a custom-made EMG embedded solution for real-time gesture recognition whose output is used in the exoskeleton bio-cooperative controller. The recorded EMG signals ar...

In this study, new low-cost neck-mounted sensorized wearable device is presented to help farmers detect the onset of calving in extensive livestock farming by continuously monitoring cow data. The device incorporates three sensors: an inertial measurement unit (IMU), a global navigation satellite system (GNSS) receiver, and a thermometer. The hypot...

Assisted bilateral rehabilitation has been proven to help patients improve their paretic limb ability and promote motor recovery, especially in upper limbs, after suffering a cerebrovascular accident (ACV). Robotic-assisted bilateral rehabilitation based on sEMG-driven control has been previously addressed in other studies to improve hand mobility;...

Se ha demostrado que la rehabilitación bilateral asistida ayuda a los pacientes a mejorar su capacidad del miembro parético y promover su recuperación motora tras sufrir un accidente cerebrovascular (ACV), especialmente en las extremidades superiores. La rehabilitación bilateral asistida por robot, basada en el control por EMG, ha sido abordada ant...

The spread of the use of robotic devices in neuro-rehabilitation therapies requires the availability of lightweight, easy-to-use, cost-effective and versatile systems. RobHand has been designed with these goals in mind. It is a hand exoskeleton especially suitable for patients suffering from spasticity in the fingers since it is easy to place in th...

Depending on their use, electrodes must have a certain size and design so as not to compromise their electrical characteristics. It is fundamental to be aware of all dependences on external factors that vary the electrochemical characteristics of the electrodes. When using implantable electrodes, the maximum charge injection capacity (CIC) is the t...

A control strategy based on the application of the information on intention of movement, obtained through sEMG, to a Direct Force Control algorithm, for the bio-cooperative control of an exoskeleton for hand rehabilitation, is presented. The aim is to implement the assist-as-need paradigm and to provide the appropriate assistance to the patient whi...

The design of safe stimulation protocols for functional electrostimulation requires knowledge of the “maximum reversible charge injection capacity” of the implantable microelectrodes. One of the main difficulties encountered in characterizing such microelectrodes is the calculation of the access voltage Va. This paper proposes a method to calculate...