Eric Rohmer's research while affiliated with University of Campinas and other places

Publications (44)

Article
Full-text available
The complexity of the user interfaces and the operating modes present in numerous assistive devices, such as intelligent prostheses, influence patients to shed them from their daily living activities. A methodology to evaluate how diverse aspects impact the workload evoked when using an upper-limb bionic prosthesis for unilateral transradial ampute...
Article
Full-text available
People taken by upper limb disorders caused by neurological diseases suffer from grip weakening, which affects their quality of life. Researches on soft wearable robotics and advances in sensor technology emerge as promising alternatives to develop assistive and rehabilitative technologies. However, current systems rely on surface electromyography...
Conference Paper
Full-text available
Controlling different characteristics like force, speed and position is a relevant aspect in assistive robotics, because their interaction with diverse, common, everyday objects is divergent. Usual approaches to solve this issue involve the implementation of sensors; however, the unnecessary use of such devices increases the prosthetics’ prices in...
Article
Full-text available
The strict development processes of commercial upper-limb prostheses and the complexity of research projects required for their development makes them expensive for end users, both in terms of acquisition and maintenance. Moreover, many of them possess complex ways to operate and interact with the subjects, influencing patients to not favor these d...
Chapter
Autonomous mobile robots emerged as an important kind of transportation system in warehouses and factories. In this work, we present the use of MECA cognitive architecture in the development of an artificial mind for an autonomous robot responsible for multiple tasks. It is a work in progress, and we still have only preliminary results. Future work...
Article
Autonomous mobile robots emerged as an important kind of transportation system in warehouses and factories. In this work, we present the use of MECA cognitive architecture in the development of an artificial mind for an autonomous robot responsible for multiple tasks, including transportation of packages along a factory floor, environment explorati...
Conference Paper
Full-text available
The force myography (FMG) is a method for retrieving the hand movements by assessing the radial forces exerted by the forearm muscles. In this context, optical fiber transducers based on different principles (microbending, LPFG, specklegram, and hetero-core structure) are evaluated for the measurement of FMG signals. Furthermore, the microbending t...
Conference Paper
Full-text available
The complexity of User-Prosthesis Interfaces (UPIs) to control and select different grip modes and gestures of active upper-limb prostheses, as well as the issues presented by the use of electromyography (EMG), along with the long periods of training and adaptation influence amputees on stopping using the device. Moreover, development cost and chal...
Conference Paper
Full-text available
The strict development processes of commercial upper-limb prosthesis and complexity of research projects makes them expensive for end users, both in terms of acquisition and maintenance. The advent of 3D printers and the internet, allows for distributed open-source research projects that follow new design principles; these take into account simplic...
Article
In this paper, we introduce the Cognitive Systems Toolkit (CST) and its underlying CST Reference Cognitive Architecture. CST is a general toolkit for the construction of cognitive architectures, which relies on a set of concepts which are familiar to many other cognitive architecture and constitute CST’s core. This core is general enough such that...
Conference Paper
Full-text available
Surface electromyography (sEMG) commonly used in upper-limb prostheses requires expensive medical equipment to get accurate results, and even then only a few actions can be classified. We propose an sEMG activated embedded system based on Digital Signal Processing and Machine Learning, to interpret the user intention with the purpose of controlling...
Conference Paper
Full-text available
This paper is presenting the ongoing work toward a novel driving assistance system of a robotic wheelchair, for people paralyzed from down the neck. The user's head posture is tracked, to accordingly project a colored spot on the ground ahead, with a pan-tilt mounted laser. The laser dot on the ground represents a potential close range destination...
Conference Paper
This work presents a platform for the development of a functional prototype for assistive robotic vehicles supporting various control strategies in the context of a smart environment. The implemented framework allows an operator with a disability to interact with a smart environment by means of handfree devices (small movements of the face or limbs...
Conference Paper
Full-text available
This paper presents a planning approach for solving the global localization problem for cleaning robots. The approach is based on architectural design features of the building such as walls and doors to help the robot on finding the best route to go. Lighter POMDP plans are generated only for representative rooms of the environment, decreasing size...
Conference Paper
From exploring planets to cleaning homes, the reach and versatility of robotics is vast. The integration of actuation, sensing and control makes robotics systems powerful, but complicates their simulation. This paper introduces a versatile, scalable, yet powerful general-purpose robot simulation framework called V-REP. The paper discusses the utili...
Conference Paper
Technologies such as Brain-Computer Interface (BCI) and Electromyography (EMG) allow people with limited mobility to interact with devices such as computers, home appliances and mobile robots. However, low cost BCI and EMG have not matured yet. Moreover, these technologies present relative low signal-to-noise ratio and classification accuracy. In c...
Conference Paper
This work describes the development of an intelligent agent responsible for making relevant action suggestions to a BCI user in the context of an intelligent environment. For the development of this agent, a modified version of a behavior network, embedded into a neuroscience inspired cognitive architecture, has been implemented. A new soft-precond...
Article
Rapid information gathering during the initial stage of investigation is an important process in case of disasters. However this task could be very risky for human rescue crews, when the infrastructure of the building has been compromised or the environment contaminated by nuclear, biological, or chemical weapons. To be able to develop robots that...
Conference Paper
In this paper, a new category of the wheel-leg hybrid robot is presented. The proposed mechanism can compose large wheel diameter compared with the previous hybrid robot to realize a greater ability to climb obstacles. A prototype model of one Wheel-Leg module of the proposed robot mechanism has been developed to illustrate the concept. Actual desi...
Article
Successful robotic planetary exploration missions are not without technical and scientific challenges. Appropriate control and mobility of the robot is critical for successful exploration in unstructured environments. We address these problems through an overview of an under development telerobotic platform for exploration missions to the lunar cra...
Article
In this paper, an action planning algorithm is presented for a reconfigurable hybrid leg–wheel mobile robot. Hybrid leg–wheel robots have recently receiving growing interest from the space community to explore planets, as they offer a solution to improve speed and mobility on uneven terrain. One critical issue connected with them is the study of an...
Conference Paper
In this paper, a new category of wheel-leg hybrid robot inspired by retracting configuration of the armadillo is presented. The proposed mechanism can compose large wheel diameter compared with the previous hybrid robot to realize high ability to climb obstacles. A prototype model of one wheel-leg module of the proposed robot mechanism has been dev...
Article
Rapid information gathering during the initial stage of investigation is an important process in case of disasters. However this task could be very risky for human rescue crews, when the infrastructure of the building has been compromised or the environment contaminated by nuclear, biological, or chemical weapons. To be able to develop robots that...
Article
In this paper, a new category of the wheel-leg hybrid robot is presented. The proposed mechanism can compose large wheel diameter compared with the previous hybrid robot to realize high ability to climb obstacles. A prototype model of one Wheel-Leg module of the proposed robot mechanism has been developed to illustrate the concept. Actual design an...
Conference Paper
Full-text available
In this paper, we propose an action planning algorithm and its evaluation method based on dynamic simulation for a novel type of hybrid leg-wheel rover for planetary exploration. Hybrid leg-wheel robots are recently receiving a growing interest from the space community to explore planets, since they offer an appropriate solution to gain improved sp...
Article
Full-text available
Successful robotic planetary exploration missions are not without technical and scientific challenges. Appropriate control and mobility of the robot is critical for successful exploration in the unstructured environment. We address these problems, through an overview of an under development telerobotic platform, for exploration missions to the luna...
Conference Paper
On a scene of a natural disaster, rescuers require heavy duty hydraulic machines to answer their need of large forces, or to approach an unreachable spot. Those industrial vehicles are hydraulically actuated arms kinematically different, and equipped by specific tools to fit the task to accomplish. They require trained operators because of their co...
Conference Paper
In this paper the authors present the current progress of a networked robotic system intended to be deployed at disaster areas. This system is formed by three mobile robots: two twin crawlers that would have search-and-recognition tasks gathering information about their surroundings, and an outdoor-wheeled rover that will approach the area and whic...
Conference Paper
This paper describes the ongoing development of a tele-operation platform for space robotic missions. The proposed platform consists of a ground control station, an offline simulation environment, a full-scale working model of the robot and the actual robot on the mission. From the simulation environment a path strategy is obtained and a set of com...

Citations

... Combining synchronized EMG and EIT to measure muscle activity [114]. A disabled assistive robotic glove using optical fiber force myography sensor [47]. Differential diagnosis of temporomandibular joint disorders using sEMG [115]. ...
... All the codelets are operating continually and cyclically at a particular period. Notwithstanding, some cognitive functions demand more priority than others, and specific processes must be executed before others (e.g., perceptual before reasoning ones) [17]. ...
... This manuscript reports a control methodology for multiple grasps by prosthetic hand without using pattern recognition algorithms at lower computational cost and with much higher accuracy. Using single channel EMG and an Android application, it reports multiple grasps and individual finger movements by a prosthetic hand with 100% accuracy.Frequently reported grasp patterns performed by prosthetic hands available in the literature include thumb-index finger, tripod, sphere (power), sphere (precision), large diameter and lateral pinch (Abarca et al. 2019;Fajardo et al. 2020;Zhou et al. 2019). In the reported work, the prosthetic hand can execute disk (precision), disk (power), thumb-2 finger, thumb-3 finger, light tool, thumb-4 finger, platform push, adducted thumb, medium wrap, small diameter in addition to the previously reported grasp patterns. ...
... Meanwhile, agents and cognitive systems have been applied in different areas of urban transport, for example, in terms of agent-based models for transportation (Tchappi et al. 2020;Outay et al. 2021), and autonomous driving (Gudwin et al. 2020;Di and Shi 2021). The modeling of a virtual enterprise of passenger transportation by using artificial agents was presented in Cabrera-Paniagua et al. (2011) in order to dynamically adapt the availability of transport service according to the existing demand. ...
... The device generates signals up to 20 mA and 50 Hz with several waveform modulation parameters to produce pulsed or continuous output. Then, active rectangular electrodes (Carci Trode, 3 × 5 cm 2 area) placed on the motor points of the FDS and EDC muscles apply the electrical stimulation to flex and extend the finger joints, respectively [26]. ...
... In addition to the RF signals, and vision-based schemes, the muscular activity can be monitored by force myography, which provides reasonable mobility to the user. The visible range of the electromagnetic spectrum is used for the detection of (i) the motion of an industrial robotic arm using a dedicated algorithm implemented in FPGA [11], and (ii) the muscle activity when the control of assistive robotic gloves is based on the optical fiber force myography (FMG) [9]. FMG systems have been widely used but have drawbacks of limited portability due to all processing being carried out by a computer, thus reducing their real-life applications drastically [10]. ...
... Although not included in the scope of this review, promising approaches to tackle this issue are shared-control methods (Losey et al., 2018). These methods combine highlevel control by the user with autonomous low-level control by the robots, e.g., through camera-based object recognition (Markovic et al., 2015;Fajardo et al., 2018) to relieve the physical and mental burden from the users, while still leaving them in control. ...
... Similarly, the FMG technique can be low cost with off-the-shelf FSRs, repeatable like sEMG, electrically robust, and requires minimal signal processing [1]. FMG technology has been studied in applications like sEMG such as gesture recognition, prosthetic control, activities of daily life, rehabilitation, and HMI (human machine interaction) [4], [8][9][10][11][12]. ...
... In Andrade et al. (2017), the image captured by an embedded camera was processed on an external server through the Inception-v3 and Tensorflow, and the suggested grasp returned to the local processing unit, an RPI3. The user could accept or cancel the result. ...
... It is worth mentioning the existence of articulated robots that are capable of reconfiguring themselves to obtain some kind of benefit and perform multiple types of locomotion (see SherpaTT in Figure 3c as an example of this). For instance, articulated robots with tracks can actively control their stability while driving on rough terrains [40,41]. Others use a wheel-on-legs configuration to execute a locomotion mode called Wheelwalking [42,43]. ...