Chicaiza Claudio, Fernando
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Chicaiza Claudio, Fernando
Main Affiliation
Ambato

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Delayed Bilateral Teleoperation of Mobile Manipulators With Hybrid Mapping: Rate/Nonlinear-Position Modes

2024 , Chicaiza Claudio, Fernando , EMANUEL SLAWIñSKI , VICENTE MUT

Mobile manipulators find versatile applications across various fields, leveraging the combination of autonomous functionalities and bilateral teleoperation schemes to enhance the effectiveness of these robotic mechanisms. Regarding teleoperation, command generation involves a leader robot with a few degrees of freedom in a bounded workspace, accompanied by a redundant follower robot operating in an unbounded workspace. This article introduces the concept of Cartesian/articular control for delayed bilateral teleoperation of a mobile manipulator, where the follower robot aims to execute the rate/nonlinear-position commands issued by a human handling the leader robot through a proposed hybrid mapping. We implement a P+d controller applied in Cartesian space for the leader while a controller based on inverse kinematics in joint space is employed for the follower, taking advantage of its redundancy. We then propose a Lyapunov-Krasovskii candidate function to analyze theoretically and numerically the time derivative of the functional on the system trajectories. As a result, we derive the conditions that the proposed hybrid mapping and controller parameters must satisfy to ensure bounded errors. Finally, we statistically evaluated objective metrics from multiple pick-and-place task executions considering time delays to quantify the performance achieved

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Automated Mouth State Recognition for Robotic Feeding Assistance

2025 , Samuel Peña , Viviana Moya , Chicaiza Claudio, Fernando , Danilo Chávez , Juan Pablo Vásconez , Andrea Pilco

Feeding poses a significant challenge for patients with limited upper limb mobility. A robotic assistant equipped with the capability to detect a patient's mouth and deposit food can effectively support the user during feeding. Since each patient exhibits unique physical characteristics, it is essential to develop an automated system capable of accurately identifying the mouth's location. This allows the definition of a precise three-dimensional target point where a robotic manipulator can deliver food. Although various techniques are available for facial feature detection, some demonstrate notable advantages in specific applications. Considering the constraints of limited processing capacity, we propose the use of Facemesh to identify the patient's point of interest, specifically the mouth. This technique enables the determination of the precise location for food delivery. To ensure the robot can reach both the patient's mouth and the food container, an inverse kinematics-based controller is implemented. The system's performance is evaluated, demonstrating the effectiveness of integrating the patient into the control loop for seamless operation.

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Dual-Arm Mobile Manipulator Teleoperation With Coupled Rate-Position Mapping Under Time-Varying Delays

2025 , Chicaiza Claudio, Fernando , Emanuel Slawiñski , Vicente Mut

Bilateral teleoperation of dual-arm mobile manipulators presents considerable challenges. These include increased kinematic redundancy, coordination complexity, and sensitivity to time-varying communication delays. Most existing approaches control each arm independently using leader position-based mappings; however, the teleoperation of mobile dual-arm systems mechanically coupled through an articulated torso remains largely unexplored. Unlike previous studies that primarily emphasize controller tuning, this work emphasizes the critical role of command mapping design in achieving effective teleoperation. Specifically, it analyzes a coupled rate/nonlinear-position mapping strategy that enables coordinated motion in a torso-equipped dual-arm mobile manipulator operated through a dual-leader haptic interface. The proposed framework extends existing single-arm teleoperation schemes by introducing a coupled reference generation mechanism, where the reference for the secondary arm depends on both the position of the secondary leader and the rate-position-type reference of the primary arm. A two-stage stability analysis, based on the Lyapunov-Krasovskii criterion and numerical simulations, is conducted to determine the parameter conditions required to ensure bounded coordination errors in the presence of time-varying communication delays. Preliminary human-in-the-loop tests in dual-arm pick-and-place tasks support the theoretical findings and demonstrate a clear dependence of motion stability on the structure of the command mapping. The results provide foundational insights into the joint optimization of control and mapping strategies and offer practical guidelines for advancing teleoperation in complex, real-world scenarios.

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Web-based pulmonary telehabilitation: a systematic review

2024 , Ayala-Chauvin, Manuel Ignacio , Chicaiza Claudio, Fernando , Patricia Acosta-Vargas , Jadán Guerrero, Janio , Verónica Maldonado-Garcés , Esteban Ortiz-Prado , Gloria Acosta-Vargas , Mayra Carrión-Toro , Marco Santórum , Mario Gonzalez-Rodriguez , Camila Madera , Wilmer Esparza

Web-based pulmonary telerehabilitation (WBPTR) can serve as a valuable tool when access to conventional care is limited. This review assesses a series of studies that explore pulmonary telerehabilitation programmes delivered via web-based platforms. The studies involved participants with moderate to severe chronic obstructive pulmonary disease (COPD). Of the 3190 participants, 1697 engaged in WBPTR platforms, while the remaining 1493 comprised the control groups. Sixteen studies were included in the meta-analysis. Web-based pulmonary telerehabilitation led to an increase in daily step count (MD 446.66, 95% CI 96.47 to 796.86), though this did not meet the minimum clinically important difference. Additionally, WBPTR did not yield significant improvements in the six-minute walking test (MD 5.01, 95% CI − 5.19 to 15.21), health-related quality of life as measured by the St. George’s Respiratory Questionnaire (MD − 0.15, 95% CI − 2.24 to 1.95), or the Chronic Respiratory Disease Questionnaire (MD 0.17, 95% CI − 0.13 to 0.46). Moreover, there was no significant improvement in dyspnoea-related health status, as assessed by the Chronic Respiratory Disease Questionnaire (MD − 0.01, 95% CI − 0.29 to 0.27) or the modified Medical Research Council Dyspnoea Scale (MD − 0.14, 95% CI − 0.43 to 0.14). Based on these findings, this review concludes that WBPTR does not offer substantial advantages over traditional care. While slight improvements in exercise performance were observed, no meaningful enhancements were noted in dyspnoea or quality of life metrics. Overall, WBPTR remains a complementary and accessible option for managing and monitoring COPD patients. However, further research and innovation are required to improve its efficacy and adapt it to various clinical environments.

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Neural networks meet PID control: Revolutionizing manipulator regulation with gravitational compensation

2025 , Marco Moran-Armenta , Jorge Montoya-Cháirez , Francisco G. Rossomando , Emanuel Slawiñski , Vicente Mut , Chicaiza Claudio, Fernando , Javier Moreno-Valenzuela

This research proposes an innovative approach to improve the performance of regulation control systems in manipulators by combining PID control with gravitational compensation using neural networks. In this work, a modified PID control structure that incorporates a gravitational compensation term given by a neural network is introduced, thus allowing a more precise and adaptive response to gravitational and dynamic perturbations of the system. Furthermore, the controller's performance is evaluated through real-time experiments in two manipulators, comparing its performance with the same structure, one without integral action, another without neural compensation and the last one assuming that the gravity vector is known. The results show a significant improvement in system regulation accuracy, demonstrating the proposed controller's effectiveness.

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