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  • Grasping simulation with a new device for a hand

     Peña Pitarch, Esteban; Ticó Falguera, Neus; Abenoza Guardiola, Montserrat; Romero Cullerés, Georgia
    International Digital Human Modeling Symposium
    Presentation's date: 2014-05-21
    Presentation of work at congresses

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  • Grasping simulation with a new device for a hand

     Peña Pitarch, Esteban; Ticó Falguera, Neus; Abenoza Guardiola, Montserrat; Romero Cullerés, Georgia
    International Digital Human Modeling Symposium
    Presentation's date: 2014-05-21
    Presentation of work at congresses

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    People with disabilities have limitations in activities of daily life such as grasping a glass of water or moving an object. Orthotic products that improve or restore the functionality of the musculoskeletal system of a patient contribute to some extent to overcome the limitations described. So does the hand brace, used to treat musculoskeletal disorders caused by various diseases (rheumatic disorders, neurological, orthopedic and others). The paper simulates a novel exoskeleton to grasp any object. The novelty of this mechanism is that works without external energy, it works with a wrist movement that generates a kinetic movement and helps to grasp objects with an extra force. Objectives: The aim of this work is to simulate a novel exoskeleton to grasp any object. The orthosis (external devices attached on the hand of a user disabled) facilitate the functionality, being comfortable and easy to be used by the patient. It is adaptable to hand size and finger length of the patient and needs no power source for operation.

  • Effect of human link length determination on posture reconstruction

     Gragg, J.; Yang, Jingzhou; Cloutier, A.; Peña Pitarch, Esteban
    Applied ergonomics
    Date of publication: 2013-01
    Journal article

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  • Fiabilidad y validez de un nuevo dispositivo para medir la fuerza muscular del suelo pélvico en mujeres con incontinencia urinaria

     Vilaseca Grané, Ana; Romero Cullerés, Georgia; Jane Feixas, C.; Peña Pitarch, Esteban; Arnau Bartes, Ana; Crespo, N.
    Congreso de la Asociación Navarra de Matronas. Congreso de la Federación de Asociaciones de Matronas de España
    Presentation's date: 2013-10-17
    Presentation of work at congresses

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  • Joystick ergonomic grasping to improve design

     Peña Pitarch, Esteban; Ticó Falguera, Neus; Abenoza Guardiola, Montserrat; Lopez Martinez, Joan Antoni; Romero Cullerés, Georgia
    International Forum on Special Equipments and Engineering Mechanics
    Presentation's date: 2013-07-11
    Presentation of work at congresses

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    The human hand is the most complete tool, able to adapt to different surfaces and shapes and touch and grasp. Raw material and product manufacturing are related to material handling. Although there have been great advances in technologies, regulations, methodologies, strategies, and workplace safety. The number of fatalities, the severity of injuries, and the number of lost workdays per accident-incident related to material handling continue keeping high. All different hand injuries occur when the operators repetitively use joysticks to handle materials in manufacturing environment. This paper studies joystick ergonomics used in the materials jandling equipment and evaluate the design and use of joysticks by a new generation of virtual humans.

  • Reliability and validity of a new vaginal dynamometer to measure pelvic floor muscle strength in women with urinary incontinence

     Romero Cullerés, Georgia; Peña Pitarch, Esteban; Jane Feixas, C.; Vilaseca Grané, Ana; Arnau Bartes, Ana; Montesinos Muñoz, Jesús; Sirvent Batalla, G.; Ticó Falguera, Neus; Dalmau Garcia, C.; Abenoza Guardiola, Montserrat
    Annual Meeting of the International Continence Society
    Presentation's date: 2013-08-26
    Presentation of work at congresses

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  • Premi a la millor patent per la seva aplicació del mercat

     Peña Pitarch, Esteban
    Award or recognition

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  • Nonlinear inverse optimization approach for determining the weights of objective function in standing reach tasks

     Zou, Q.; Zhang, Qinghong; Yang, Jingzhou; Cloutier, A.; Peña Pitarch, Esteban
    Computers and industrial engineering
    Date of publication: 2012-10-27
    Journal article

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  • Virtual human hand: model and kinematics

     Peña Pitarch, Esteban; Yang, Jingzhou; Ticó Falguera, Neus
    Computer methods in biomechanics and biomedical engineering
    Date of publication: 2012-08-24
    Journal article

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    Valoración del daño corporal en personas afectadas de secuelas neurológicas  Open access

     Peña Pitarch, Esteban; Ticó Falguera, Neus
    Trauma
    Date of publication: 2012-10
    Journal article

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    Objetivo: Mostrar un nuevo sistema para simular la recuperación inicial de las funciones de la extremidad superior los primeros días después del ictus y simular la recuperación funcional de los pacientes bajo los programas de rehabilitación. Pacientes y metodología: Seleccionamos 29 pacientes en los primeros cuatro días después de padecer un ictus, valorados a los tres y siete días y uno, tres y seis meses, recogiendo tipo de ictus, clasificación (escala de Oxford), déficit neurológico (escala de NIHSS), medidas de discapacidad, valoración de la función motora de la extremidad superior (escala de Fugl-Meyer), tono muscular y balance muscular de la extremidad superior. Resultados: Los pacientes que presentaron un tono muscular disminuido tuvieron más dificultad en mejorar el control motor de las articulaciones de la extremidad superior. Los pacientes TACI presentaron mayor déficit neurológico, mientras que los tipos de ictus POCI y LACI tenían una función motora mejor con mayor independencia para el desarrollo de sus actividades de la vida diaria. Conclusión: La simulación virtual del brazo y la mano en pacientes afectados por un ictus proporciona a los médicos y fisioterapeutas una nueva herramienta que permite simular la evolución de los déficits en algunos pacientes.

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    Exoesqueleto para mano discapacitada con movimiento y sensibilidad, pero sin fuerza  Open access

     Peña Pitarch, Esteban; Ticó Falguera, Neus; Lopez Martinez, Joan Antoni; Abenoza Guardiola, Montserrat; Romero Cullerés, Georgia
    Ortoprotésica
    Date of publication: 2012
    Journal article

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    Personas con ciertas patologías tienen limitaciones en sus actividades de la vida diaria, tales como coger un vaso de agua o mover un objeto. Las ortesis ayudan a mejorar y/o restaurar la funcionalidad del sistema muscoesquelético en pacientes que tienen las limitaciones descritas. Este artículo presenta una de estas ortesis, un exoesqueleto para la mano discapacitada, con el fin de ayudar a mejorar sus actividades de la vida diaria. La novedad de este exoesqueleto patentado es que no necesita ningún tipo de energía externa para su activación. Un movimiento de la muñeca hace que se active, creando una cadena cinemática de movimientos que ayuda a agarrar el objeto.

  • Disseny d'un dinamòmetre per quantificar la força muscular del sòl pelvià

     Romero Cullerés, Georgia; Jané Feixas, Cecilia; Arnau Bartes, Anna; Abenoza Guardiola, Montserrat; Montesinos Muñoz, Jesus; Vilaseca Grané, Anna; Peña Pitarch, Esteban
    Jornades Althaia "Compartir i créixer"
    Presentation's date: 2012-06-14
    Presentation of work at congresses

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  • Fingertips deformation under static forces: analysis and experiments

     Peña Pitarch, Esteban; Ticó Falguera, Neus; Vinyes Casasayas, Adrià; Martinez Carmona, Damián
    International Conference on Applied Human Factors and Ergonomics
    Presentation's date: 2012-07-21
    Presentation of work at congresses

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    Introduction: When designers, physicians, and engineers are working in a new design or calculation forces exerted by fingertips they need to consider that each person's fingertip is different. Taking into account the material properties for each person the Poisson's ratio, Young,s modulus, and density are different. These properties will be influential in the fingertip force. Objectives: Development of a three-dimensional human fingertip model to simulate with finite element methods a behavior of soft finger when it is under a force. In a soft finger, Poisson´s coefficient can be different according to person and age. Other factors like temperature have influence on this coefficient. Young,s modulus can be used for the dermis, epidermis, soft tissue, grease, and tendons. Once we have collected all of these dates we create a three-dimensional model. Methods: With a caliper and a precision balance Tefal-EASY we measure three times the force and deformation of fingertips, with O N no deformation to 7 N maximum deformation in z-axis (axis normal to balance and fingertip) using the same conditions for each experiment. Once we have done experiments with a person we introduce constrains in a finite element program to campare deformation in z-axis and force with the results and experiments.

  • Recovery of upper extremety funtion after acute stroke

     Ticó Falguera, Neus; Peña Pitarch, Esteban; Abenoza Guardiola, Montserrat; Peret Hernández, Pablo; Sirvent Batalla, Griselda; Romero Cullerés, Georgia
    European Congress of Physical and Rehabilitation Medicine
    Presentation's date: 2012-05-28
    Presentation of work at congresses

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  • Device for a hand: with mobility and sensitivity but without force

     Peña Pitarch, Esteban; Ticó Falguera, Neus; Lopez Martinez, Joan Antoni; Abenoza Guardiola, Montserrat; Romero Cullerés, Georgia
    International Conference on Mechatronic System and Measurement Technology
    Presentation's date: 2012-08-16
    Presentation of work at congresses

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    People with disabilities have limitations in activities of daily life such as grasping a glass of water or moving and object. Orthotic products that improve or restore the funcionality of the musculoskeletal system of a patient contribute to some extent to overcome the limitations described. So does the hand brace, used to treat musculosketal disorders caused by various diseases (rheumatic disorders, neurological, orthopedic and others). The paper shows a novel exoskeleton to grasp any object. The novelty of this mechanism is that works without external energy, it works with a wrist movement that generates a kinetic movement and helps to grasp with an extra force

  • Sistemas Multi-mano para tareas complejas de manipulación robotizada

     Peña Pitarch, Esteban; Felipe Blanch, Jose Juan de; Alcelay Larrion, Jose Ignacio; Al Omar Mesnaoui, Anas; Suarez Feijoo, Raul
    Participation in a competitive project

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  • Dispositivo de medida de la fuerza muscular del suelo pélvico

     Peña Pitarch, Esteban; Romero Cullerés, Georgia
    Date of request: 2011-03-25
    Invention patent

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    Dispositivo de medida de fuerza muscular del suelo pélvico, que comprende un especulum (1) formado por dos piezas (11, 12) acopladas pivotantes, cada una de dichas piezas con una zona de agarre (31, 32) y una zona delantera (41, 42) destinada a ser introducida en la vagina, donde en a la zona delantera (31, 32) del especulum se le acopla un sensor (2) de desplazamiento de electrodos de superficie, con un muelle (21) de constante K conocida, donde dicho muelle (21) tiene un diámetro de alambre entre 0,5 y 1 m, y asociado a un módulo de lectura (50) del desplazamiento. Además dispone de un sistema de medida de fuerzas parásitas a través de electrodos de superficie (52) asociados a un módulo de lectura de fuerzas (51).

  • Rehabilitation and engineering: an experience

     Peña Pitarch, Esteban; Ticó Falguera, Neus; Abenoza Guardiola, Montserrat; Bichay, Ashraf A. F.; Romero Cullerés, Georgia
    International Conference on Mechanical Engineering and Mechanics
    Presentation's date: 2011-08-12
    Presentation of work at congresses

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    Every time more projects are developed involving different areas of knowledge and as a result of these arises the necessity for interdisciplinary work groups, to give an answer for the emerging needs. In this article we present an experience resulting from the collaboration between the professors of the Universitat Politècnica de Catalunya (UPC), most of them are trained and specialized in the field of mechanical engineering, telecommunications, industrial and specialists doctors in Rehabilitation and Physical Medicine, who are working in the medical centers of Althaia Xarxa Assistencial de Manresa. Thanks to this contribution the group has a competitive project and two patents requested.

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    Human simulation in stroke patients rehabilitation  Open access

     Ticó Falguera, Neus; Peña Pitarch, Esteban
    International Symposium on Digital Human Modeling
    Presentation's date: 2011-06-14
    Presentation of work at congresses

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    Different types of neurological deficits and sequels in the upper extremities that affect the activities of daily living in patients who have undergone stroke, have been analyzed from a subjective clinical point of view. Prognosis recovery after stroke depends on many factors, among which are included individualized program of rehabilitation and cooperation of patients. Simulation patients in the beginning of stroke. The aim of this work is to show a novel environment to simulate the initial improvement upper limb functions a few days after stroke and simulate the functional recovery of patients under a rehabilitation program. Twenty-nine patients in the first four days post stroke were selected. Inclusion criteria were: over eighteen years of age, collaborative patients, and neurological deficits in upper extremities post stroke without a previous history of stroke of motor sequelae second to other neurological or osteoarticular diseases that might identify pre-existing disability. Assessments were performed with 3-4 days and 7 days and 1, and 3 months post stroke recording the following variables: demographics, stroke type, stroke classification according to the Oxford scale, neurological deficit determined by the NIHSS, disability measures (Barthel’s Index, Rankin Scale), assessment of the motor dysfunction of the upper extremities according to the Fugl-Meyer Scale as well as muscle tone (Ashworth’s Scale) and muscle balance of the upper extremities. We measured the deficits of angles, lengths and range of motion for the arm and hand affected. These measures were implemented in a virtual environment with 29 DOF for each arm and hand. The different types of deficit and sequelae seen in the upper extremities of stroke patients impairing their activities of daily living have been analysed from a subjective clinical standpoint based on clinical and functional assessments. The prognosis for recovery of each patient very much depends on many factors, which can be found in the rehabilitation program and individual goals together with the collaboration afforded by the patients themselves while they are unaware a priori of the objective outcome of the rehabilitation process.

  • Determining weights of joint displacement objective function for standing reach tasks

     Zou, Q.; Zhang, Q.; Yang, Jingzhou; Cloutier, A.; Gragg, J.; Peña Pitarch, Esteban
    International Symposium on Digital Human Modeling
    Presentation's date: 2011-06-15
    Presentation of work at congresses

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    This paper presents an inverse optimization approach to determine the weights for the joint displacement function in standing reach tasks. This inverse optimization problem can be formulated as a bi-level optimization problem. The design variables are joint angles and weights. The cost function is the summation of the differences between two sets of joint angles (the design variables and the realistic standing reach posture). Constraints include (1) normalized weights within limits; (2) an inner optimization problem to solve for joint angles (predicted standing reach posture). Additional constraints such as weight linear equality constraints, obtained through observations, are also implemented in the formulation to test the method. A 52 degree-of-freedom (DOF) human whole body model is used to study the formulation and visualize the prediction. An in-house motion capture system is used to obtain the realistic standing reach posture. Total 12 subjects (three subjects for each percentiles in stature of 5th percentile female, 50th percentile female, 50th percentile male and 95th percentile male) are selected to run the experiment. The set of weights for the general standing reach tasks is obtained by averaging all weights for all subjects and all tasks. Based on obtained set of weights, the predicted standing reach postures have good correlation with the experimental results. The presented formulation can be used to determine the weights of cost function within any multi-objective optimization (MOO) problems such as any types of posture prediction and motion prediction.

  • Diseño de un dinamómetro para cuantificar la fuerza muscular del suelo pélvico

     Romero Cullerés, Georgia; Peña Pitarch, Esteban
    Congreso Internacional del Suelo Pélvico y Pelviperineología
    Presentation's date: 2011-10-13
    Presentation of work at congresses

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  • Tools to design new devices for rehabilitation or robotics

     Peña Pitarch, Esteban; Yang, James; Abenoza Guardiola, Montserrat; Ticó Falguera, Neus; Romero Cullerés, Georgia
    IEEE International Conference on Robotics and Biomimetics
    Presentation's date: 2011-12-09
    Presentation of work at congresses

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    Several groups are working on the design of a new generation of robots and haptics for the activities of daily life or rehabilitation of elderly people or patients with some pathology. Sometime their forces in power grasping are different from healthy people. This paper is focused on the study of grasp forces of these patients with different pathologies and presents a new methodology to calculate grasp forces applied by virtual human hand when grasping any object with power. The Denavit-Hartenberg method is implemented to analyze the 25-degree-of-freedom (DOF) hand model of the virtual humans. Human performance measures (joint torques and joint displacements) are criteria for the design of joysticks in the material handling machines. Finally we compare these analytical results with experiments where n=16 persons. Based on a comfortable position for the hand a new model is proposed to design joysticks for patients or yhe elderly.

    Treball presentat a la 2011 IEEE International Conference on Robotics and Biomimetics, celebrat a Phuket (Tailàndia) del 7 al 9 de desembre de 2011

  • New orthotic glove design to amplify hand strength

     Peña Pitarch, Esteban; Ticó Falguera, Neus; Abenoza Guardiola, Montserrat; Romero Cullerés, Georgia
    World Congress International Socity of Physical & Rehabilitation Medicine
    Presentation's date: 2011-06-15
    Presentation of work at congresses

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    Virtual human hand: autonomous grasping strategy  Open access

     Peña Pitarch, Esteban
    Date of publication: 2010-02
    Book chapter

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    La mà humana és l'eina més completa, capaç d'adaptar-se a superfícies diferents i formes i tocar i agafar. Es presenten i es desenvolupa un algoritme nou per agafar qualsevol objecte en un entorn virtual (VE). L'objectiu és presentar una teoria nova per agafar qualsevol objecte en un VE amb l'humà virtual (VH).

  • Human simulation under anosognosia and neglect in stroke patients

     Peña Pitarch, Esteban; Ticó Falguera, Neus
    Date of publication: 2010-07-17
    Book chapter

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  • Virtual Physiological Human Network of Excellence

     Peña Pitarch, Esteban
    Participation in a competitive project

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  • Virtual Physiological Human Network of Excellence

     Peña Pitarch, Esteban
    Participation in a competitive project

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    Human simulation under anosognosia and neglect in stroke patients  Open access

     Ticó Falguera, Neus; Peña Pitarch, Esteban
    Applied Human Factors and Ergonomics Conference
    Presentation's date: 2010-07-19
    Presentation of work at congresses

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    Simulation of functional recovery of stroke patients affected by anosognosia and neglect is crucial for physicians to aid their assessment. The objective of the present paper is describe a newly devised environment to simulate the initial, intermediate and final affectation of upper limb deficit in stroke patients with anosognosia and neglect. After a time lapse from the initial assessment and on rehabilitation therapy, we perform a new assessment. With the parameters from the two assessment we are then able to simulate the functional recovery of patients within the same time period.

  • Virtual human hand: grasping and simulation

     Peña Pitarch, Esteban; Yang, J; Abdel-Malek, K
    Lecture notes in computer science
    Date of publication: 2009-01
    Journal article

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    Virtual human hand: autonomous grasping strategy  Open access

     Peña Pitarch, Esteban; Yang, Jingzhou; Abenoza Guardiola, Montserrat; Ticó Falguera, Neus; Abdel-Malek, Karim
    IASTED International Conference on Applied Simulation and Modelling
    Presentation's date: 2008-06-23
    Presentation of work at congresses

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    Several researchers have spent time and effort studying grasping under different points of view grasping objects in virtual environments (VE) is one of them. Now that the grasping strategy in VE has been solved, the next step is grasping any object in a VE, with minimum interaction with the user. In this paper, we develop a new strategy for autonomous grasping in a virtual environment, based on the knowledge of a few object attributes like size, task, and shape. When the object is input a VE, the user chooses the object from among others, chooses a task inherent to the object selected, and then we implement a semi-intelligence algorithm, which makes a decision about how to grasp the selected object. When the system makes a decision, it determines whether the object is in the workspace of the hand. If it is then grasps, if is not, the virtual human (VH) moves to closer to the object so that it is now graspable.

  • Virtual human hand: grasping strategy and simulation  Open access

     Peña Pitarch, Esteban
    Defense's date: 2008-01-25
    Department of Mining Engineering and Natural Resources, Universitat Politècnica de Catalunya
    Theses

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    La mano humana es una herramienta muy completa, capaz de adaptarse a diferentes superficies y formas, y también tocar y coger. Es una conexión directa entre el mundo exterior y el cerebro. I.Kant (filosofo alemán) definió la mano como una extensión del cerebro.En esta tesis, nosotros hemos construido una mano virtual para simular la mano humana lo más realísticamente posible. Basado en la anatomía de la mano, hemos diseñado una mano con 25 grados de libertad (DOF), con cuatro de esos grados de libertad localizados en la unión carpometacarpal, para el dedo anular y el meñique. Estos cuatro grados de libertad permiten la simulación de la mano humana cuando esta se arquea. El dedo gordo ha sido diseñado con 5 DOF, los dedos, índice y medio tienen 4 DOF, la unión metacarpofalangeal tiene dos, y las uniones interfalangeales próxima y distal tienen uno cada una. Para los dedos anular y meñique, los 4 DOF tienen las mismas uniones más los cuatro descritos arriba.El método de Denavit-Hartenberg (D-H) fue aplicado, debido a que cada dedo fue considerado como un rayo, esto es, una cadena cinemática abierta, con las uniones consideradas "revolutas". Las tablas D-H para cada dedo fueron mostradas y la aplicación de la cinemática directa e inversa permitió calcular todos los ángulos para cada unión [q1 . . . q25]T .Antes de coger cualquier objeto, nuestro sistema comprueba si el objeto esta en el espacio de la mano, mediante el análisis del espacio de trabajo.Se ha implementado un algoritmo semi-inteligente orientado a las tareas para las cuales el objeto ha sido diseñado, con el fin de tomar una decisión, una vez el usuario ha escogido el objeto y su tarea inherente. El algoritmo para coger ha sido implementado en un escenario virtual.

    The human hand is the most complete tool, able to adapt to different surfaces and shapes and to touch and grasp. It is a direct connection between the exterior world and the brain. I. Kant (German philosopher) defined how the hand is an extension of the brain.In this dissertation, we built a virtual human hand to simulate the human hand as realistically as possible. Based on the anatomy of the hand, we designed a hand with 25 degrees of freedom (DOF), with four of these degrees located in the carpometacarpal joint for the ring and small fingers. These four degrees permit the simulation of the human hand when it is arched. The thumb was designed with 5 DOF, the index and middle fingers have 4 DOF, in the metacarpophalangeal joint has two, and in the proximal interphalangeal joint and in the distal interphalangeal joint each have one. For the ring and small fingers, the 4 DOF are in similar joints plus as the four described above.The Denavit-Hartenberg (D-H) method was applied because each finger was considered a ray, i.e., an open chain, with joints approximated to revolute joints. The D-H tables for each finger were shown, and the application of forward and inverse kinematics permit the calculation of all angles for each joint [q1 . . . q25]T .Before grasping any object, our system checks the reachability of the object with workspace analysis.Semi-intelligent task-oriented object grasping was implemented for making a decision once the user chooses the object and the task inherent to the object. The grasping algorithm was implemented in a virtual environment.

  • Optimal trajectory planning for redundant manipulators based on minimum jerk

     Yang, J; Kim, J; Peña Pitarch, Esteban; Abdel-Malek, K
    32nd Annual Mechanisms and Robotics Conference
    Presentation of work at congresses

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  • Modelo matemático para la validación del balance muscular mediante dinamómetro manual hidráulico : CC 388. Suplemento I: 129-235

     Abenoza Guardiola, Montserrat; Peña Pitarch, Esteban; Yang, J; Abdel-Malek, A; Ticó Falguera, Neus
    Rehabilitación: revista de la Sociedad Española de Rehabilitación y Medicina Física
    Date of publication: 2008-09
    Journal article

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  • Hand grasp: analysis and experiments

     Peña Pitarch, Esteban; Abenoza Guardiola, Montserrat; Vilanova, Ramon; Yang, J; Abdel-Malek, K
    Congrès de Mécanique
    Presentation of work at congresses

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  • Prensión y reposicionamiento de objetos mediante manipulación diestra antropomorfa: enfoques analíticos y de aprendizaje

     Suarez Feijoo, Raul; Peña Pitarch, Esteban; Al Omar Mesnaoui, Anas; Alcelay Larrion, Jose Ignacio; Felipe Blanch, Jose Juan de
    Participation in a competitive project

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  • Modelización del cuerpo humano

     Peña Pitarch, Esteban; Alcelay Larrion, Jose Ignacio; Abenoza Guardiola, Montserrat; Vilanova, Ramon; Yang, J; Abdel-Malek, K
    Jornada de Recerca EPSEM 2006
    Presentation of work at congresses

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  • New capabilities for the virtual-human Santos TM

     Yang, J; Marler, T; Kim, J; Wang, Q; Zhou, X; Peña Pitarch, Esteban; Farrell, K; Patrick, A; Sinokrot, T; Potratz, J; Bhatti, M A; Abdel-Malek, K; Arora, J; Nebel, K
    SAE 2006 World Congress
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  • Posture prediction and force/torque anaysis for human hands

     Yang, J; Peña Pitarch, Esteban; Kim, J; Abbel-Malek, K
    Digital Human Modeling for Design and Engineering
    Presentation of work at congresses

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  • Synthesis and analysis of a flexible elephant trunk robot

     Yang, J; Peña Pitarch, Esteban; Potratz, J; Beck, S; Abdel-Malek, K
    Advanced robotics
    Date of publication: 2006-07
    Journal article

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  • Posture prediction and force/torque analysis for human hand

     Yang, J; Peña Pitarch, Esteban; Kim, J; Abdel-Malek, K
    SAE technical paper series
    Date of publication: 2006-07
    Journal article

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  • Joystick ergonomic study in material handling using virtual humans

     Peña Pitarch, Esteban; Yang, J; Abdel-Malek, K; Kim, J; Marler, T
    ASME International Mechanical Engineering Congress and Exposition
    Presentation of work at congresses

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  • Santos TM hand: workspace analysis

     Peña Pitarch, Esteban; Yang, J; Abdel-Malek, K
    IASTED International Conference on Modelling and Simulation
    Presentation of work at congresses

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  • Hand grasping strategy for virtual humans

     Peña Pitarch, Esteban; Yang, J; Abdel-Malek, K; Marler, T
    3rd IASTED International Conference on Biomechanics
    Presentation of work at congresses

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  • Santos TM hand: a 25 degree of freedom model

     Peña Pitarch, Esteban; Yang, J; Abdel-Malek, K
    Digital Human Modeling for Design and Engineering Symposium
    Presentation of work at congresses

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  • A light weight compliant hand mechanism with high degrees of freedom

     Potratz, J; Yang, J; Abdel-Malek, K; Peña Pitarch, Esteban; Grosland, N
    Journal of biomechanical engineering. Transactions of the ASME
    Date of publication: 2005-11
    Journal article

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  • Experiencias de innovación educativa mediante la evaluación entre iguales en las ingenierias técnicas

     Fortuny Santos, Jordi; Peña Pitarch, Esteban
    Congreso Universitario de Innovación Educativa en las Enseñanzas Técnicas
    Presentation's date: 2004-07-26
    Presentation of work at congresses

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  • Analysis of a multi-fingered hand prosthesis

     Yang, J; Peña Pitarch, Esteban; Abdel-Malek, K; Lindkvist, L
    28th Biennial Conference on Mechanisms and Robotics
    Presentation of work at congresses

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  • A multi-fingered hand prosthesis

     Yang, Jing; Peña Pitarch, Esteban; Abdel-Malek, K; Patrick, A; Lindkvist, L
    Mechanism and machine theory
    Date of publication: 2004-06
    Journal article

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  • Experiencias de coevaluación en la Escuela Universitaria Politécnica de Manresa

     Fortuny Santos, Jordi; Peña Pitarch, Esteban
    Congrés Internacional de Docència Universitària i Innovació
    Presentation of work at congresses

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  • Aplicación del modelo dinámico de materiales a la optimización del conformado en caliente de un acero de alta resistencia destinado a la fabricación de piezas de automoción

     Al Omar Mesnaoui, Anas; Peña Pitarch, Esteban; Prado Pozuelo, Jose Manuel
    Jornadas de Avances Científicos en Ingeniería Industrial y Civil
    Presentation's date: 2003-05-07
    Presentation of work at congresses

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