Emilio Jesús Lázaro Sánchez

Bio: Emilio Jesús Lázaro Sánchez is an academic researcher from University of Navarra. The author has contributed to research in topics: Haptic technology & Virtual reality. The author has an hindex of 9, co-authored 26 publications receiving 866 citations. Previous affiliations of Emilio Jesús Lázaro Sánchez include Centro de Estudios e Investigaciones Técnicas de Gipuzkoa & Tecnun.

Lower-Limb Robotic Rehabilitation: Literature Review and Challenges

Abstract: This paper presents a survey of existing robotic systems for lower-limb rehabilitation. It is a general assumption that robotics will play an important role in therapy activities within rehabilitation treatment. In the last decade, the interest in the field has grown exponentially mainly due to the initial success of the early systems and the growing demand caused by increasing numbers of stroke patients and their associate rehabilitation costs. As a result, robot therapy systems have been developed worldwide for training of both the upper and lower extremities. This work reviews all current robotic systems to date for lower-limb rehabilitation, as well as main clinical tests performed with them, with the aim of showing a clear starting point in the field. It also remarks some challenges that current systems still have to meet in order to obtain a broad clinical and market acceptance.

Experimental quantitative comparison of different control architectures for master-slave teleoperation

Abstract: A procedure for experimental evaluation and objective/quantitative comparison among the different teleoperation architectures and systems is proposed. It is based on the analysis of the different matrices that can define the teleoperated system (two-port representations) and the selection of a set of four parameters that are easy to estimate via simple experimentation: free motion impedance, position tracking in free movement, force tracking in hard contact tasks and maximum transmittable impedance. These parameters provide complete characterization of the master-slave system and have clear physical interpretation. Furthermore, they require no maneouvering of the slave robot, which is very useful in the case of heavy or nonaccessible industrial robots. The method has been applied to compare position-position (PP), force-position (FP), and four-channel (4C) controllers in a 2 DOF master-slave system. Experimental measuring for all four parameters will be shown, proving the 4C architecture clearly better than any other.

A review of surgical robots for spinal interventions.

Abstract: Background This study aimed to describe the state of the art in surgical robotics for spinal interventions, a challenging problem for which robots can provide valuable assistance. Methods Multiple electronic databases were searched for articles published during the last 10 years (2002–2012). Results were refined by defined inclusion criteria. Results A total of 18 different robots were found. Among them, five are commercially available systems: one specifically designed for spinal surgery, one for percutaneous needle-based interventions, two are radiosurgical systems with reported applications on the spine and another is a commercial robot which has been experimentally tested on spinal surgery. The remaining projects are research prototypes which are still on validation stages. Conclusions A comprehensive state of the art is presented, showing that spinal robotic surgery is still at an early stage of development but with great potential for improvement. Copyright © 2012 John Wiley & Sons, Ltd.

Stability Boundary for Haptic Rendering : Influence of Damping and Delay

Abstract: The influence of viscous damping and delay on the stability of haptic systems is studied in this paper. The stability boundaries have been found by means of different approaches. Although the shape of these stability boundaries is quite complex, a new linear condition, which summarizes the relation between virtual stiffness, viscous damping, and delay, is proposed under certain assumptions. These assumptions include a linear system, short delays, fast sampling frequency, and relatively low physical and virtual damping. The theoretical results presented in this paper are supported by simulations and experimental data using the DLR light-weight robot and the large haptic interface for aeronautic maintainability (LHIfAM).

IMA-VR: A multimodal virtual training system for skills transfer in Industrial Maintenance and Assembly tasks

Abstract: Industrial Maintenance and Assembly is a very complex task involving both cognitive skills (procedural skills) and motor skills (fine motor control and bi-manual coordination skills). This paper presents a controlled multimodal training system, for transferring the motor and cognitive skills involved in these tasks. The new platform provides different multimodal aids and learning strategies that help and guide the users during their training process. One of the main features of this system is its flexibility to adapt itself to the task demands and to the users' preferences and needs supporting different configurations. To address bi-manual operations the platform offers different alternatives, one of them is a set-up composed of a haptic device to track the motion of the operator's dominant hand and simulate the physical interaction within the virtual environment, together with a marker-less motion capture system to track the motion of the other hand in real time.

Biomechanics And Motor Control Of Human Movement

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Evaluating virtual reality and augmented reality training for industrial maintenance and assembly tasks

Abstract: The current study evaluated the use of virtual reality (VR) and augmented reality (AR) platforms, developed within the scope of the SKILLS Integrated Project, for industrial maintenance and assembly (IMA) tasks training. VR and AR systems are now widely regarded as promising training platforms for complex and highly demanding IMA tasks. However, there is a need to empirically evaluate their efficiency and effectiveness compared to traditional training methods. Forty expert technicians were randomly assigned to four training groups in an electronic actuator assembly task: VR (training with the VR platform twice), Control-VR (watching a filmed demonstration twice), AR (training with the AR platform once), and Control-AR (training with the real actuator and the aid of a filmed demonstration once). A post-training test evaluated performance in the real task. Results demonstrate that, in general, the VR and AR training groups required longer training time compared to the Control-VR and Control-AR groups, respe...

The H2 robotic exoskeleton for gait rehabilitation after stroke: early findings from a clinical study

Abstract: Stroke significantly affects thousands of individuals annually, leading to considerable physical impairment and functional disability. Gait is one of the most important activities of daily living affected in stroke survivors. Recent technological developments in powered robotics exoskeletons can create powerful adjunctive tools for rehabilitation and potentially accelerate functional recovery. Here, we present the development and evaluation of a novel lower limb robotic exoskeleton, namely H2 (Technaid S.L., Spain), for gait rehabilitation in stroke survivors. H2 has six actuated joints and is designed to allow intensive overground gait training. An assistive gait control algorithm was developed to create a force field along a desired trajectory, only applying torque when patients deviate from the prescribed movement pattern. The device was evaluated in 3 hemiparetic stroke patients across 4 weeks of training per individual (approximately 12 sessions). The study was approved by the Institutional Review Board at the University of Houston. The main objective of this initial pre-clinical study was to evaluate the safety and usability of the exoskeleton. A Likert scale was used to measure patient’s perception about the easy of use of the device. Three stroke patients completed the study. The training was well tolerated and no adverse events occurred. Early findings demonstrate that H2 appears to be safe and easy to use in the participants of this study. The overground training environment employed as a means to enhance active patient engagement proved to be challenging and exciting for patients. These results are promising and encourage future rehabilitation training with a larger cohort of patients. The developed exoskeleton enables longitudinal overground training of walking in hemiparetic patients after stroke. The system is robust and safe when applied to assist a stroke patient performing an overground walking task. Such device opens the opportunity to study means to optimize a rehabilitation treatment that can be customized for individuals. Trial registration: This study was registered at ClinicalTrials.gov ( https://clinicaltrials.gov/show/NCT02114450 ).