Sergio Alexander Salinas

The University of Western Ontario | UWO · Department of Electrical and Computer Engineering

This article presents the development and testing of a tactile interface prototype, HaptTech, that applies vibrotactile stimulation patterns to the fingertip, as well as an analysis of its performance when coupled to the commercial kinesthetic interface Novint Falcon. Its applicability in digital entertainment expects to improve the level of immers...

Advances in data science and wearable robotic devices present an opportunity to improve rehabilitation outcomes. Some of these devices incorporate electromyography (EMG) electrodes that sense physiological patient activity, making it possible to develop rehabilitation systems able to assess the patient's progress when performing activities of daily...

Oil palm cultivation is one of the major agricultural activities in Colombia. Production performance is related to the good practices in the plantation, mainly regarding the management of phytosanitary conditions. Bud rot disease is the one with the greatest impact in Colombia. The most commonly used technique for its detection is from routine visu...

Parameters of the human gait cycle are commonly used for the evaluation and diagnosis of motor and neurological disorders. Traditionally, biomechanical analysis is performed in specialized laboratories, but in these locations, the subject does not perform a natural gait and tends to hide or exaggerate their alterations. Therefore, in this paper, we...

Electromyography signals are commonly used to control prosthetic or orthotic devices. The electrodes attached to the skin capture the muscular activity coming from neuromotor signals. Robotic prostheses help to improve the quality of life of people who suffer from physical disabilities such as amputations of lower or upper limbs. However, these pro...

Virtual reality locomotion has been a subject of study as it plays an important role that affects immersion and presence. Walking constitute a challenging interaction in virtual reality installments as it is a complex task to recreate. Some approaches have focused on input devices employing diverse technologies including robotics, omnidirectional t...

Iridology is the science that aims to identify certain human pathologies through human iris by using manual visual methods. These methods, although they are less invasive, are cumbersome. In this paper, a detailed description of the results obtained by applying an algorithmic approach for the automatic identification, calculation, and computation m...

This paper presents the design and implementation of a new training exercise to improve technical textbfskills in the surgeons who performtextbf Single Port Laparoscopic Cholecystectomy (SPLC), a technique that requires active improvements to overcome the lack of triangulation and collision of instruments both within and outside the abdominal cavit...

Este articulo describe el modelo, control y simulación de un exoesqueleto robótico para reeducación de pacientes con daños motores causados por una lesión durante el desarrollo de un cerebro inmaduro, el cual tiene como objetivo optimizar la terpía de rehabilitación y con ella la recuperación del paciente. El diseo propuesto posee diez grados de li...

Una de las actuales tendencias mundiales para la medición de parámetros de la marcha humana es el uso de Unidades de Medición Inercial (IMU), en contraste con los laboratorios de marcha especializados. Esto se debe a la facilidad de uso, tamaño y bajo costo que ofrece la nueva tecnología. Sin embargo, se requiere que estos nuevos sistemas aseguren...

Este artículo presenta el desarrollo de un sistema e-Salud para el monitoreo y control de temperatura y luminosidad de un prototipo de incubadora neonatal, a través de un sistema microprocesado que permite la conexión con herramientas web, que a su vez, envían los datos a través de Internet, con el ánimo de poder observar constantemente las variabl...

This paper presents the conceptual design of an exoskeleton for gait rehabilitation of children. This system has electronics, mechanicals and software sections, which are implemented and tested using a mannequin of a child. The prototype uses servomotors to move robotic joints that are attached to simulated patient's legs. The design has 4 DOF (deg...

El alzhéimer es una enfermedad que afecta en gran proporción a los adultos mayores, siendo un grave problema para aquellas personas que la padecen y para quienes los rodean debido a las altas probabilidades que tienen los enfermos de perder la ubicación en cualquier momento; es por esto que se genera la propuesta de un sistema GPS vía wifi con la p...

This paper pretends to explain the development of a prototype of teleoperation using two haptic interfaces Novint Falcon. The objective was to teleoperate a slave robot with a master one, using Simulink to control and communicate both interfaces. The communication was made wireless using Wi-Fi. And, the slave interface did move as we wanted just li...

This paper presents the approach of an e-health system for cardiac telemonitoring which uses the development board LinkIt ONE as a monitoring system. Such board was adapted to measure the cardiac pulse, analyze it and determine whether a person is having a cardiac arrhythmia or not. When an arrhythmia appears, the prototype activates an alarm in or...

This paper presents a proposal of a measurement system that will permit to quantify two gait parameters: short step and stride, within uncontrolled environments. The short step and the stride are two important parameters in the gait analysis that usually are measured in a specialized laboratory, but this measurement can be done in uncontrolled envi...

This paper presents a teleoperated robotic system that can be used for tele-surgery training wherein surgeons could make basic laparoscopic training exercises from a remote location. The system has visual feedback and a master interface which is manipulated by the surgeon to command a remote robotic arm. Experiments about data transmission and peg...

Este artículo presenta la construcción de un simulador de reflejo moro y reflejo de prensión palmar en neonatos. El reflejo moro es el movimiento de los brazos que hace el neonato, como respuesta ante la acción de dejarle caer momentáneamente su cabeza; por su parte el reflejo de prensión palmar se refiere a cómo el neonato cierra la mano cuando un...

This paper presents a review about some virtual simulators for laparoscopic surgery training. Currently, they are available in both commercially and under research; it includes simulators with haptic interfaces used to increase the immersion sense and realism of the exercises. Besides, the Fundamentals of Laparoscopic Surgery (FLS) training program...

—En este artículo se presenta el desarrollo de un tablero didáctico para estimulación de habilidades motoras en niños con trastornos de desarrollo neurológico, a partir de un análisis psicométrico de motivación y un diseño inicial construido en el Centro Terapéutico Integral de Neurodesarrollo Bobath. El tablero original ha sido utilizado en terapi...

This paper presents the implementation process of an electronic wireless system. It allows making exercises for hand rehabilitation. The patient can control movements of a mobile robot; it has to use movements of its hand and the electronic glove. The robot is controlled by an accelerometer that is located in the glove; an electronic prototyping pl...

This paper presents the design of a prototype rehabilitation system through the adaptation of a knee brace control function as a serious game, so it links the entertainment of a game with the progress of rehabilitation, using as based physical therapy is performed after a meniscus operation.

This paper presents the design of haptic device that is conceived for biomedical applications. Specifically, the device can be used for surgery training allowing the user to feel and handle simulated objects a tridimensional and tele-operated environment. The haptic interface is a serial robot with four degrees of freedom that allows to set the ori...

This paper presents the mathematical and structural model, simulation and computed torque control of the LapBot robot, developed by the Group of Investigation of Industrial Automatics, of the Universidad del Cauca, Colombia. First, a summary of the principal surgery assistant robots of the world is presented, and how they solve the problem of passi...

This paper presents the mathematical and structural model, simulation and computed torque control of the LapBot robot, developed by the Group of Investigation of Industrial Automatics, of the Universidad del Cauca, Colombia. First, a summary of the principal surgery assistant robots of the world is presented, and how they solve the problem of passi...

This article shows a simple methodology to implement an operational space control on a 6-DOF arm robot. First, the model is linearized and decoupled by feedback, next a computed torque control scheme in the operational space is implemented with a Jacobian matrix calculus running within small sampling period, is exhibited. Major simulation results p...

Resumen: Este artículo presenta la aplicación, en una cirugía de extirpación de vesícula (colecistectomía), del robot para cirugía laparoscópica 'LapBot' en un ambiente de simulación tridimensional. Se realiza el seguimiento de movimientos reales de una cirugía usando los modelos geométricos del robot, el cual pasa a través de un punto fijo en el e...

Resumen Este artículo muestra el diseño de un nuevo robot que puede ser utilizado en operaciones de laparoscopia. El robot llamado LapBot posee una arquitectura de nueve grados de libertad que le permiten posicionar y orientar los instrumentos quirúrgicos dentro del abdomen de un paciente, pasando a través de un punto fijo en el espacio cartesiano...