Omar Arturo Domínguez-RamírezAutonomous University of Hidalgo | UAEH · Department of Computational and Electronics Systems
Omar Arturo Domínguez-Ramírez
Doctor of Science in Mechatronics (Sc.D)
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97
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Introduction
Mathematical modeling, control and application of mechatronic systems represent the focus of research and development. Various contributions are focused on diagnosis and neurorehabilitation; to this end, areas such as the biomechanics of the human body, biomedical perception, and robotic systems that interact with humans are considered. In some cases, artificial intelligence algorithms are used for recognition and diagnosis; or intelligent controllers that modify elements of the structure to com
Additional affiliations
January 1995 - March 2016
Publications
Publications (97)
![Fig. 1: CyberForce Haptic Device [10].](profile/Omar-Dominguez-Ramirez/publication/365822499/figure/fig1/AS:11431281103968238@1669903610907/CyberForce-Haptic-Device-10_Q320.jpg)
With the help of platforms with haptic devices, rehabilitation areas for cerebrovascular accident patients can be attended with practices such as upper and lower extremity training. The application of training and/or rehabilitation protocols generates in disabled people the capacity for motor learning (movements executed quickly and accurately thro...
Los controladores PID deslizantes han sido diseñados para su aplicación en tareas de seguimiento en sistemas robóticos. Posteriormente, la aplicación de la teoría de atractores terminales se usó para robustecer este tipo de controladores. En este artículo, se presentan los resultados experimentales del uso de un PID deslizante con generador de tiem...
Dentro de los procesos de rehabilitación por medio de asistencia robotizada se estudian diferentes aplicaciones y múltiples tipos de control, permitiendo la repetición de los procesos. Los resultados de estos estudios no consideran las condiciones del humano dentro del lazo de control, por lo cual se plantea el caracterizar el esfuerzo del usuario...
Apreciables lectores de Pädi En estos tiempos en los que la economía, la salud y la paz mundial es un tema recurrente en el quehacer del día a día, me complace presentarles el número especial 5 de nuestra revista “Pädi Boletín Científico de Ciencias Básicas e Ingenierías del ICBI”. En esta ocasión dedicado a la Robótica en México, con el apoyo de l...
Se propone un algoritmo generalizado para encontrar la cinemática inversa de posición y velocidad de cadenas cinemáticas con articulaciones giratorias de n-DOF. Para ello, se utiliza la técnica del gradiente descendente, encontrando el ajuste cercano en sistemas redundantes utilizando la condición actual, con posibilidad de computar una nueva traye...
En el documento se presenta una clasificación de diferentes tipos de gestos de la mano por medio de señales mioeléctricas (EMG), las cuales serán procesadas por un filtro tipo Kernel Gaussiano, para su posterior clasificación utilizando del método de Polinomios Anidados. Se tiene como resultados del proceso de clasificación la correcta identificaci...
With the help of platforms with haptic devices, rehabilitation areas for cerebrovascular accident patients can be attended with practices such as upper and lower extremity training. The application of training and/or rehabilitation protocols generates in disabled people the capacity for motor learning (movements executed quickly and accurately thro...
Crouch gait is one of the most common gait abnormalities; it is usually caused by cerebral palsy. There are few works related to the modeling of crouch gait kinematics, crouch gait analysis, and visualization in both the workspace and joint space. In this work, we present a quaternion-based method to solve the forward kinematics of the position of...
There exist several methods aimed at human–robot physical interaction (HRpI) to provide physical therapy in patients. The use of haptics has become an option to display forces along a given path so as to it guides the physiotherapist protocol. Critical in this regard is the motion control for haptic guidance to convey the specifications of the clin...
La fisioterapia asistida con robots, representa una de las mejores alternativas de tratamiento debido a la precisión y adaptabilidad no sólo en las fuerzas de interacción humano-robot, también en la modulación de amplitud y frecuencia de las trayectorias de referencia. En este artículo, se establece un principio de modulación de los parámetros arti...
Las tecnologías y protocolos clínicos en atención a discapacidades que reflejan limitación motriz en miembro superior, establecen ciertos criterios asociados a lo que el paciente comunica al médico de rehabilitación o fisioterapista, así como lo que el medico percibe en el desempeño de la tarea, estableciendo no solo un nivel de subjetividad en el...
Gait analysis is one of the most important challenging research areas in clinical and computing settings. Gait biomechanics and gait human recognition are two major areas of interest. Alterations in walking can cause physical and mental health problems in people, so diagnoses and treatments derived from optimal gait analysis are very useful in clin...
This research proposes to obtain a mathematical model that describes the dynamic operation of a brushed DC motor, to obtain a state function considering the electrical, mechanical, and thermal effects of the DC motor. The dynamic evolution of the proposed function is evaluated by simulation using Matlab software, and by applying different values of...
Gait analysis is a very important assessment tool to identify abnormalities in gait, which can be used to determine diseases such as cerebral palsy, spastic diplegia and quadriplegia. In this work, we proposed the use of no-common metrics based on area, RMS level and centroid to evaluate the lower limbs system during the gait cycle in the operation...
For the human been, the gait is one of the most important way for locomotion. In this paper, we present a novel approach of forward kinematics of position using quaternions algebra to describe the lower limbs position during the gait cycle. Gait analysis was developed using an own quaternions-based numerical platform programmed on Matlab®. For this...
Biomechanical modeling of the human body and scientific visualization are widely used tools for gait analysis. In this study, we propose a framework for the scientific visualization of the human gait cycle based on the geometric inverse kinematics of position (GIK) of an 8 degrees of freedom (DoF). The coordinates of the joint references in gait sp...
Haptic exploration for high precision applications such as surgical training stations, represent a challenge in kines-thetic force feedback methods with deformable virtual objects. In this contribution, a methodology to compute the contact forces for haptic interfaces with high performance, is presented to define the force in the human interaction...
![Fig. 3. Decomposition analysis of the f [n] signal of brain activity.](profile/Jesus-Garcia-58/publication/359938064/figure/fig3/AS:1144663088078850@1649920355605/Decomposition-analysis-of-the-f-n-signal-of-brain-activity_Q320.jpg)
In the literature, findings of movement and force control of non-intrusive robotic assistance systems have been reported, based on the processing of electroencephalogram (EEG) recordings and the conditioning of the control strategy. However , the collection of signals in the cerebral cortex may not represent the set point defined in the cerebellum,...
Antalgic gait is one of the most common abnormalities in human beings during the walking. This work presents a framework for the automatic recognition for antalgic and non-antalgic gaits, using the gyroscope of a smartphone for data acquisition. The test carried out was 10-meter walk, with a population of 30 subjects, 40% antalgics, and 60% non-ant...
Gait is the main locomotion way for human beings as an autonomous decision. Due to the increase in people with walking disabilities, the precision in gait analysis for purposes in clinical diagnosis, sports medicine or biomechani-cal research for the design of assistive technologies is of special relevance. The literature reports notable contributi...
En este documento, se describe el método de solución de una ecuación diferencial exacta (contribución descrita en literatura clásica de ecuaciones diferenciales ordinarias).
Engineering education has been always a concern for universities and instructors. In this paper, a mixed learning approach model to teach at an engineering level via student involvement in a cross-curricular project is proposed. The methodology can be useful for an undergraduate course in digital signal processing. The proposed method involves the...
The continuous growth of applications with sensors, wireless transmission, network communication and computing technologies has allowed conventional power generation and transmission systems to evolve into smart grids. This has caused the increase in the amount of data accumulated in the energy sector. The integration of renewable energies, e.g., p...
The objective of this work is to present a procedure for the classification of basic emotions based on the analysis of EEG signals (electroencephalogram). For this case, 25 subjects were stimulated, of whom 17 were men and 9 women between 20 and 35 years of age. The stimulus to induce positive, negative and neutral emotions with a certain level of...
The objective of this work is to present a procedure for the classification of basic emotions based on the analysis of EEG signals (electroencephalogram). For this case, 25 subjects were stimulated, of whom 17 were men and 9 women between 20 and 35 years of age. The stimulus to induce positive, negative and neutral emotions with a certain level of...
The conventional limitations of the robotic actuation mechanisms have led to many researchers needing to explore novel biomimetic motor mechanisms as the antagonistic human motor system. In this way, it is of interest to understand the inherent adaptive stiffness, or compliance, and modulation, in different alternative actuation architectures such...
Las complicaciones que presentan muchas personas con algún tipo de discapacidad motriz a la hora de hacer sus tareas cotidianas, ha despertado el interés de investigar los comandos cerebrales y entender las señales cerebrales generadas por una tarea definida, el objetivo es transformar estos comandos cerebrales en comandos de entrada a sistemas rob...
Este documento presenta el desarrollo de un laboratorio virtual con un sistema de teleoperación entre dos robots virtuales, los robots diseñados para este sistema son un dispositivo PHANToM OMNI y el robot PUMA 560. Para ello se consideraron las restricciones fı́sicas que se describen de manera matemática en los modelos cinemáticos y dinámicos de l...
El presente trabajo comprende la implementación de algoritmos de alto desempeño para reconocimiento y detección de rostros, con interactividad en la Nube empleando la plataforma Microsoft Azure. Para su implementación, se analizan técnicas biométricas utilizadas hoy en día para el reconocimiento de patrones de rostros y se plantea de manera general...
Resumen: La necesidad de satisfacer carencias relacionadas con la integración de herramientas tecnológicas de bajo costo para la optimización de procesos, se ha hecho más evidente conforme pasa el tiempo. En este trabajo de investigación se propone una solución al problema que enfrentan las instituciones de salud, y de manera muy particular el área...
There are many human-robot physical interaction methods for physical therapy in patients of upper limbs disabilities. The use of haptic devices for this purpose is abundant, as are the different proposals for motion control in haptic guidance, as part of a clinical protocol with the patient in the loop. A conclusive result of these interaction plat...
Los sistemas de interacción física hombre-robot (HRpI), corresponden a plataformas ideadas para la transmisión de conocimiento, a partir del contacto kinestésico entre un humano, y un dispositivo robótico con dinámica inercial y tribológica baja o nula. La dinámica de contacto, para el sistema robótico, representa modificación a las fuerzas inercia...
Los sistemas de interacción física hombre-robot (HRpI), corresponden a plataformas ideadas para la transmisión de conocimiento, a partir del contacto kinestésico entre un humano, y un dispositivo robótico con dinámica inercial y tribológica baja o nula. Sus aplicaciones en entrenamiento, tele- operación y entretenimiento requieren de alto desempeño...
La cinemática de posición y diferencial, para un dispositivo háptico, representan el modelo matemático que describe el comportamiento y la evolución de su geometría espacial. Las contribuciones en un sistema de Interacción Física Humano-Robot son: i) planificación del movimiento cartesiano operativo y verificación del desempeño en las tareas de la gu...
A novel global PID control scheme for nonlinear MIMO systems is proposed and implemented for a robot as study case, this scheme is called AWFPID from its adaptive wavelet fuzzy PID control structure. Basically, it identifies inverse error dynamics using a radial basis neural network with daughter RASP1 wavelets activation function; its output is in...
In this paper an implementation of a fuzzy adaptive control law to manipulate device of Human-Robot interaction is presented. Mamdani type fuzzy systems are employed to approximate the dynamics of interaction system. An adaptation law is added to controller to compensate for parametric variations and/or uncertainties of the interaction Human-Robot....
The position and differential kinematics, for a haptic device, represent the mathematical model that describes the behavior and evolution of its spatial geometry. Contributions in a Human-Robot Physical Interaction system , are: i) operational cartesian motion planning and verification of performance on tasks of passive haptic guidance, ii) torque...
This paper shows the experimental validation of the forward and inverse kinematic model (position and velocity), of the CyberForce haptic device (CHD). For trajectory tracking is used a passive control technique in operational coordinates (cartesian workspace) and its experimental results in the joint-space. The contribution in passive haptic guida...
The position and differential kinematics, for a haptic device, represent the mathematical model that describes
the behavior and evolution of its spatial geometry. Contributions in a Human-Robot Physical Interaction system, are: i) operational cartesian motion planning and verification of performance on tasks of passive haptic guidance, ii) torque /...
This paper shows the experimental validation of the forward and inverse kinematic model (position and velocity), of the CyberForce haptic device (CHD). For trajectory tracking is used a passive control technique in operational coordinates (cartesian workspace) and its experimental results in the joint-space. The contribution in passive haptic guida...
In order to design and implement any type of controller, their stability analysis is pivotal. At this regard, Lyapunov’s analytical method consists in finding a candidate function as a sufficient but not necessary condition to validate the stability of the controller. In the case of fuzzy controllers such a candidate function is not always found, l...
The human-robot physical interaction systems (HRpI), are platforms designed for the transmission of knowledge, from contact between a human kinesthetic, and a robotic device with inertial dynamic and tribological low. The dynamic of contact for the robotic system is modified to the inertial, gravitational forces and tribology (friction and mechanic...
Evaluación basada en el Protocolo NASA TLX Sistema de Interacción Física Hombre-Robot Hasta hace unos cuantos años, el estudio sistemático de las interacciones entre las máquinas y el hombre, había sido un campo privilegiado de la sociología. Sin embargo, en la actualidad, el trabajo conjunto entre las distintas áreas de la robótica, la medicina y...
This paper presents a dual-user teleoperation scheme to perform a collaborative task using n-DOF nonlinear manipulators as masters and slave. It consists on impedance controllers for the manipulators in order to achieve a desired dynamic behavior depending on the user's necessities. Moreover, to cope with the uncertainty in the slave, a sliding mod...
The next article describes the application of an alternative soft fault model strategy considering the cross-coupling effect analyse at the structural architecture for hydroelectric power system generator. The scheme is based on the Fuzzy Recursive Decision Feedback Extension (RDFE) tested and verify on a non-linear hydroelectric power system model...
Haptic guidance in rehabilitation provides tactile and kinaes-thetic stimuli on patients with neuromuscular disabilities. Effects of reactive guidance depend essentially on the quality of the close loop controller and on its implementation where its design is subjected to human-centred engi-neering criteria such as stability, efficiency, bandwidth...
In this paper, we present a mechanical design, based on robotic paradigms, of an upper limb exoskeleton for motion analysis in diagnosis and as a passive device to correct abnormal movements in rehabilitation of chil-dren with neuromuscular disorders. Our proposal considers the exoskeleton as a full articulated anthropomorphic manipulator that repr...
In this paper, we present a haptic guidance platform to support physical rehabilitation of neuromuscular disabilities, providing a solution to the problem of the increasing demand of neuromuscular therapy in over-crowded facilities with deficit of rehabilitation professionals. The platform, characterized by a portable modular architecture, can be c...
An haptic interface allows the interaction among a human operator and a virtual environment defined in a computer, the haptic interaction with a virtual object establishes a kinesthetic sensation to the user. During the random exploration of the virtual object in the haptic device workspace, the human operator perceives reaction forces and of oppos...
A new paradigm for simultaneously haptic rendering of dynamic and surface properties for virtual objects based on orthogonal decomposition is presented. The methodology is used to recreate lineal dynamics, stiffness and elasticity and surface properties like tangent friction for virtual objects defined by differentiable manifolds. A stability analy...
We introduce in this chapter a new area in PID controllers, which is called multiresolution
PID (MRPID). Basically, a MRPID controller uses wavelet theory for the decomposition of the
tracking error signal. We present a general error function in terms of partial errors which gives
us the various frequencies appearing in the general errors. Once we...
The next article describes the application of an alternative soft fault model strategy considering the cross-coupling effect analyse at the structural architecture for hydroelectric power system generator.
The scheme is based on the Fuzzy Recursive Decision Feedback Extension (RDFE) tested and verify on a non-linear hydroelectric power system model...
Based on adaptive wavelet neural net-works, a PID discrete control scheme for induction motor drives is presented. An auto-tuning wavenet scheme is synthesized for the PID feedback gains by means of gradient-descendent algorithm through online plant identification. The latter uses input and output data for a radial basis neural network (RBNN) with...
This paper presents an integration of successfully tried out robust control techniques applied to trajectory tracking of a mechanical manipulator which operates as a robotic rehabilitation system for upper limb diseases. This controller combines the robustness of the sliding mode approach with the efficiency and adaptability of the fuzzy logic. Fur...
This paper presents the design, construction and implementation of a calligraphic platform with biomedical applications. This technological tool could be employed in physiotherapy to recover the loss of calligraphic abilities caused by common psychomotor disorders such as dyslexia and brain stroke. The experimental platform allow to define the moti...
A novel global PID control scheme for nonlinear MIMO systems is proposed and synthesized for a robot manipu-lator. Identification process is used for online tuning of the discrete linear PID feedback gains. Inverse dynamics identification is based on radial basis neural network with daughter RASP1 wavelets activation functions in cascaded with an i...
In this paper, we present a haptic guidance platform to support physical rehabilitation of neuromuscular disabilities, providing a solution to the problem of the increasing demand of neuromuscular therapy in overcrowded facilities with deficit of rehabilitation professionals. The platform, characterized by a portable modular architecture, can be co...
In this paper, we present a mechanical design, based on robotic paradigms, of an upper limb exoskeleton for motion analysis in diagnosis and as a passive device to correct abnormal movements in rehabilitation of children with neuromuscular disorders. Our proposal considers the exoskeleton as a full articulated anthropomorphic manipulator that repro...
The use of new technologies in the rehabilitation research has been growing in the last years, new kind of haptic devices has been shown in the market, and they are getting more accessible for the final customer in terms of price. Our goal is try to apply some cartesian controls and identify what is the best option for future implementations in hap...