Jorge Juan Gil

Bio: Jorge Juan Gil 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 17, co-authored 42 publications receiving 1245 citations. Previous affiliations of Jorge Juan Gil include Tecnun & Centro de Estudios e Investigaciones Técnicas de Gipuzkoa.

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.

Stability analysis of a 1 DOF haptic interface using the Routh-Hurwitz criterion

Abstract: A haptic interface is a kinesthetic link between a human operator and a virtual environment. A way of studying the stability of a 1 degree-of-freedom (DOF) haptic interface using the Routh-Hurwitz criterion is presented in this brief. Parameter conditions that guarantee the stability of the system with a static virtual environment have been found. These conditions can help in the development and implementation of haptic devices. Finally, they have been confirmed by experimental results.

A large haptic device for aircraft engine maintainability

Abstract: The virtual reality for maintainability (Revima) VR system supports maintainability simulation in aeronautics. Within this project we have developed and integrated a haptic device, the large haptic interface for aeronautic maintainability (LHIfAM). We use this device to track hand movements and provide force feedback within the large geometric models that describe aircraft engines. The user movements are the same as those that occur when testing physical mock-ups. An integrated haptic device and VR system for testing aircraft engines reduces development costs and avoids the necessity of physical mock-ups formaintainability.

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).

Description of a haptic system for virtual maintainability in aeronautics

Abstract: This paper describes a haptic system for maintainability simulation in aeronautics, called REVIMA (Virtual Reality for Maintainability). In this project a software-hardware tool is designed and built to realistically simulate assembly-disassembly operations. It also helps to perform accessibility, interference and maintainability analysis by using virtual reality techniques without physical mock-ups. The system gives the user a reliable and realistic response. In order to achieve these requirements, the device has a workspace similar to the size of a turbo-engine. In addition this workspace can be placed in different positions to study ergonomics aspects of the simulated tasks.

Principles of Neural Science

Abstract: I have developed "tennis elbow" from lugging this book around the past four weeks, but it is worth the pain, the effort, and the aspirin. It is also worth the (relatively speaking) bargain price. Including appendixes, this book contains 894 pages of text. The entire panorama of the neural sciences is surveyed and examined, and it is comprehensive in its scope, from genomes to social behaviors. The editors explicitly state that the book is designed as "an introductory text for students of biology, behavior, and medicine," but it is hard to imagine any audience, interested in any fragment of neuroscience at any level of sophistication, that would not enjoy this book. The editors have done a masterful job of weaving together the biologic, the behavioral, and the clinical sciences into a single tapestry in which everyone from the molecular biologist to the practicing psychiatrist can find and appreciate his or

Wearable Haptic Systems for the Fingertip and the Hand: Taxonomy, Review, and Perspectives

Abstract: In the last decade, we have witnessed a drastic change in the form factor of audio and vision technologies, from heavy and grounded machines to lightweight devices that naturally fit our bodies. However, only recently, haptic systems have started to be designed with wearability in mind. The wearability of haptic systems enables novel forms of communication, cooperation, and integration between humans and machines. Wearable haptic interfaces are capable of communicating with the human wearers during their interaction with the environment they share, in a natural and yet private way. This paper presents a taxonomy and review of wearable haptic systems for the fingertip and the hand, focusing on those systems directly addressing wearability challenges. The paper also discusses the main technological and design challenges for the development of wearable haptic interfaces, and it reports on the future perspectives of the field. Finally, the paper includes two tables summarizing the characteristics and features of the most representative wearable haptic systems for the fingertip and the hand.

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 ).