Centro de investigación en Mecatrónica y Sistemas Interactivos
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Item type:Publication, From Simulation to Reality: A Digital Twin Implementation of a 4-DOF Robotic Manipulator(2025); - Some of the metrics are blocked by yourconsent settings
Item type:Publication, From Simulation to Reality: A Digital Twin Implementation of a 4-DOF Robotic Manipulator(2025); - Some of the metrics are blocked by yourconsent settings
Item type:Publication, From Simulation to Reality: A Digital Twin Implementation of a 4-DOF Robotic Manipulator(2025); - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Analysis of Ergonomic Risks Based on Physical and Postural Characteristics in the Food Industry(2026)Musculoskeletal disorders are one of the leading causes of occupational disability worldwide, affecting workers across various industries, particularly in the food industry. These disorders are caused by factors such as improper postures, repetitive movements, and manual handling of loads. Despite efforts to mitigate these risks, ergonomic assessment in many work environments remains insufficient, as it is often limited to posture observation and does not include precise anthropometric measurements. This study aims to integrate anthropometric measurements with the Rapid Entire Body Assessment method for a more accurate and personalized evaluation of ergonomic risks in the food industry. Through a quantitative approach, anthropometric measurements of workers in a food production plant were analyzed and the Rapid Entire Body Assessment method was applied to assess working postures. The data obtained were statistically analyzed to identify correlations between the physical characteristics of employees and musculoskeletal discomfort. The results showed a significant correlation between anthropometric dimensions, such as elbow height and functional reach, with discomfort in areas such as the elbow, knees, and lower back. These findings emphasize the need to adapt workstations to the physical characteristics of employees to prevent injuries. The integration of anthropometric measurements and the Rapid Entire Body Assessment method provides a more accurate tool for assessing ergonomic risks and designing personalized interventions that improve occupational health and productivity in the food industry. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2026.6 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Estimation of Unmodeled Dynamics: Nonlinear MPC and Adaptive Control Law With Momentum Observer Dynamic(2024); ; Daniel C. GandolfoThis article proposes an enhancement to estimate unmodeled dynamics within the simplified dynamic model of a quadcopter by integrating three key methodologies: Nonlinear Model Predictive Control (NMPC), a Momentum Observer Dynamics (MOD), and an adaptive control law. Termed as Adaptive NMPC with MOD, this integrated approach leverages NMPC, implemented using the CasADi framework, for real-time decision-making, while the momentum observer facilitates system state estimation and uncertainty mitigation. Simultaneously, the adaptive control law adjusts parameters to estimate errors in unmodeled dynamics. Through digital twin and Model in Loop (MiL) simulations, the effectiveness of this framework is demonstrated. Specifically, the study focuses on the simplified quadcopter model, acknowledging often overlooked inherent dynamics resulting from the simplification by not considering the nonlinearities induced by the drone's attitude angles. Addressing these unmodeled dynamics is critical, and the Adaptive NMPC with MOD method emerges as a robust solution, showcasing its potential across various scenarios.17 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, AI-assisted neurocognitive assessment protocol for older adults with psychiatric disorders(2025)15 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Low-Cost Non-Wearable Fall Detection System Implemented on a Single Board Computer for People in Need of Care(2024); This work aims at proposing an affordable, non-wearable system to detect falls of people in need of care. The proposal uses artificial vision based on deep learning techniques implemented on a Raspberry Pi4 4GB RAM with a High-Definition IR-CUT camera. The CNN architecture classifies detected people into five classes: fallen, crouching, sitting, standing, and lying down. When a fall is detected, the system sends an alert notification to mobile devices through the Telegram instant messaging platform. The system was evaluated considering real daily indoor activities under different conditions: outfit, lightning, and distance from camera. Results show a good trade-off between performance and cost of the system. Obtained performance metrics are: precision of 96.4%, specificity of 96.6%, accuracy of 94.8%, and sensitivity of 93.1%. Regarding privacy concerns, even though this system uses a camera, the video is not recorded or monitored by anyone, and pictures are only sent in case of fall detection. This work can contribute to reducing the fatal consequences of falls in people in need of care by providing them with prompt attention. Such a low-cost solution would be desirable, particularly in developing countries with limited or no medical alert systems and few resources.11 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Movement Detection Algorithm for Patients with Hip Surgery(2019)Scopus© Citations 1 18 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Moderator Role of Monitoring in the Inhibitory Control of Adolescents With ADHD(2021); Pérez-Salas C.Objective: The aim of this research was to analyze the role of monitoring in the causal relationship between inhibitory control and symptoms of combined ADHD. Method: It has been conducted a quantitative investigation of two phases. Results: In the first study, a moderation model was analyzed (N = 144 adolescents with combined ADHD), where monitoring was considered as a moderating variable in the causal relationship between the inhibitory control and the symptomatology of ADHD F(3, 140) = 28.03, p <.001; R2 =.37. In the second study, the model through an experimental study was tested (N = 52 adolescents with and without ADHD) where it was found that adolescents with ADHD improve in their inhibitory control when they receive external support to the monitoring F(1, 50) = 21.38, p <.001, η2 =.30. Conclusion: Results suggest that monitoring compensates the poor performance of inhibitory control in adolescents with ADHD, which is a contribution to the theoretical construction of ADHD and to the treatments proposed for this condition because it goes beyond the classic conception of a causality chain among the deficit of inhibitory control and ADHD symptomatology to propose a new explanation about this disorder, where neuropsychology intervention of monitoring would diminish ADHD’s symptomatology impact on adolescents. © ©The Author(s) 2018.19 - Some of the metrics are blocked by yourconsent settings
Item type:Publication, Gestalt prototyping framework applied to design a mobile-commerce interface(2021)11