Amat Girbau, Josep
Total activity: 244
Department
Department of Automatic Control
E-mail
josep.amatupc.edu
Contact details
UPC directory Open in new window

Graphic summary
  • Show / hide key
  • Information


Scientific and technological production
  •  

1 to 50 of 244 results
  • Characterization of anastomosis techniques for robot assisted surgery

     Campos Carol, Jordi; Laporte, Enric; Gili, Gabriel; Peñas, Carlos; Casals Gelpi, Alicia; Amat Girbau, Josep
    Mediterranean Conference on Medical and Biological Engineering and Computing
    Presentation's date: 2013-09-26
    Presentation of work at congresses

    Read the abstract Read the abstract View View Open in new window  Share Reference managers Reference managers Open in new window

    A connection between two vessels or other tubular structures is known as anastomosis, one of the most common procedures in its field but, at the same time, one of the most complex suture-based techniques. This procedure requires not only a lot of skill and dexterity but also a lot of attention and plenty of concentration from the surgeon. This makes many of the actions to be performed irregularly, exposing the patient to human error resulting from the monotony. On the other hand, the field of robotics has earned itself a place in medicine, especially as assistants during a surgical intervention. Even so, medical robotics is quite young and still has not done much in the field of vessel anastomosis. Therefore, this paper presents a preliminary study of the most common suturing techniques, taking into account their typology and performance, within all the possible anastomosis procedures known. Subsequently, a detailed study of workflow and actions during an anastomosis is made, obtaining a diagram for each of the suturing techniques studied. This allows analyzing all procedures and to create a tool to find those actions and repeated tasks and/or common in all of them, indicating which of these are potential candidates for an automation study. This preliminary work focuses on finding where robotics can help to avoid rutinary tasks, which can be learned in a mechanical level and therefore, relatively easy to be automated using a robotic system or to assist the surgeon in certain tasks that need a lot of skill and attention.

  • Exploring improvements on the complexity-performance ratio and usability of surgical robots

     Casals Gelpi, Alicia; Frigola Bourlon, Manel; Bergés Martín, Eduard; Amat Girbau, Josep
    IEEE International Conference on Robotics and Automation
    Presentation's date: 2013-05-06
    Presentation of work at congresses

    Read the abstract Read the abstract View View Open in new window  Share Reference managers Reference managers Open in new window

    Surgical robots are endowed with valuable features that allow surgeons mproving their work in terms of accuracy, quality, efficiency and liability. Tremor reduction, scaled movements, virtual fixtures, pre and intraoperative imaging are some examples of enhancing aids for the surgeon. Moreover, being robotics surgery still at an early phase of development, current research efforts are focused to develop robotic systems able to solve more complex tasks, though the associated costs of robotics makes the convenience of its use in some kind of interventions questionable. After analyzing the main performances and limitations of current surgical robots, this paper foresees dvances towards ideal robotic systems that satisfy the requirements of future robots.

  • Virtual Robot: a new teleoperation paradigm for minimally invasive robotic surgery

     Hernansanz Prats, Albert; Amat Girbau, Josep; Casals Gelpi, Alicia
    IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
    Presentation's date: 2012-06-26
    Presentation of work at congresses

    View View Open in new window  Share Reference managers Reference managers Open in new window

  • Study of patient-orthosis interaction forces in rehabilitation therapies

     Amigo, Luis; Fernández, Q.; Giralt, Xavier; Casals Gelpi, Alicia; Amat Girbau, Josep
    IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
    Presentation's date: 2012-06-25
    Presentation of work at congresses

    Read the abstract Read the abstract View View Open in new window  Share Reference managers Reference managers Open in new window

    The design of mechanical joints that kinematically behave as their biological counterparts is a challenge that if not addressed properly can cause inadequate forces transmission between robot and patient. This paper studies the interaction forces in rehabilitation therapies of the elbow joint. To measure the effect of orthosis-patient misalignments, a force sensor with a novel distributed architecture has been designed and used for this study. A test-bed based on an industrial robot acting as a virtual exoskeleton that emulates the action of a therapist has been developed and the interaction forces analyzed.

  • El robot submarino teleoperado Garbí: Avances y resultados

     Amat Girbau, Josep
    Robótica Experimental
    Presentation's date: 2012-11-28
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • Transformación escalar de la interfaz de operador en teleoperación asistida  Open access

     Muñoz Morgado, Luis Miguel
    Defense's date: 2012-02-03
    Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya
    Theses

    Read the abstract Read the abstract Access to the full text Access to the full text Open in new window  Share Reference managers Reference managers Open in new window

    Human-machine interaction in teleoperation, through the adequate user interface, allows achieving the level of intelligence necessary to execute complex tasks that cannot be executed by machines or robots alone neither directly by humans. H-R interaction techniques facilitate the execution of such tasks making them more efficient and effective through the improvement of their user interface. Humans have inherent motor limitations (such as physiological tremor) and perceptive limitations (mainly perception of distance and time), which can prevent them from operating smoothly and precisely enough for certain applications. Some studies have already tackled this problem and its effect on the human-machine interaction and teleoperated systems. There are psychomotor models that show that the human manipulation efficiency, in actions such as pointing an object, depends on several factors. Among these models, the most representative corresponds to Fitts’ Law, in which the execution time is a logarithmic function of the size and distance to the object. In teleoperation, and based on these models, a modification of the visual scale in the user’s interface has a direct effect on the task execution time and on the precision that can be achieved. The same occurs with a change in the amplitude of the movement executed by the human operator with respect to that performed by the system. Therefore, scaling the movement between master and slave has a significant effect on the efficiency and effectiveness executing a task. This research work is oriented to the design and development of a method conceived to improve effectiveness thanks to a larger visual and motor efficiency of the human-machine interface. The method is based on the modification of the information flow between human, machine and interface by means of the scaling of both, the human movements and the image of the visualized task. Operation time, hand movements and the need for visual attention can thus be reduced with this computerized assistance. The changes of scale adapt to the task, which positively affects its performance in terms of precision and speed. Therefore, the proposed methodology aims to link the human operator working space to the machine or robot working space through an interface that introduces two scaling processes. A first change of scale is applied between the movement produced by the human operator and the movement produced in the visual interface (for instance, movement of the robot end-effector that is visualized on the computer screen); and a second change oriented to scale the real space of the task over the visual space of the interface. These changes of scale should be adjusted to the objects of interest, which result in a modification of the spatial resolution according to the task to be performed and to the size, shape distance and speed of the objects. Such changes modify the information flow between human and machine according to the characteristics and limitations of both.

    La interacció persona-màquina en teleoperació, a través de la interfície d’usuari, permet aconseguir el nivell d’intel•ligència necessari per executar en cooperació tasques complexes que no poden ser realitzades per màquines o robots per si sols o directament per les persones. Les tècniques d’interacció faciliten el desenvolupament d’aquestes tasques fent-les mes eficients i eficaces, mitjançant la millora de qualsevol sistema que incorpori una interfície d’usuari. Les persones posseeixen limitacions motores inherents a la naturalesa humana (com la tremolor fisiològica) i limitacions perceptives (com la percepció de la distància o el temps) que impedeixen realitzar una operació suficientment suau i precisa en certes aplicacions. Alguns estudis tracten aquest fenomen i el seu efecte en els sistemes persona-màquina i sistemes teleoperats. Existeixen models psicomotors que mostren que la eficiència de la manipulació humana en la selecció d’un objecte depèn de determinats factors. Entre aquests models, el més representatiu correspon a la Llei de Fitts, in on el temps d’execució es una funció logarítmica de la mida i la distancia al objecte. En teleoperació, i en base a aquests models psicomotors, es demostra que una modificació en l’escala visual de la interfície té un efecte directe en el temps d’execució d’una tasca i en la precisió assolible. El mateix succeeix amb un canvi en l’amplitud del moviment que realitza l’operador respecte al realitzat pel sistema, de manera que l’escalat del moviment entre mestre i esclau té un efecte significatiu en l’eficiència i eficàcia amb la que s’executa una tasca. Aquest treball d’investigació està orientat al disseny i desenvolupament d’un mètode concebut per millorar l’eficàcia gràcies a una major eficiència visual i motora de la interfície persona-màquina. El mètode es basa en la modificació del flux d’informació entre persona, màquina i interfície mitjançant l’escalat tant del moviment de la persona com de la imatge de la tasca visualitzada. El temps d’operació, els moviments de la mà de la persona i el grau d’atenció poden reduir-se amb aquesta assistència computeritzada. Els canvis d’escala s’adapten a la tasca, afectant positivament el rendiment en termes de precisió i rapidesa. Així doncs, la metodologia proposada està orientada a connectar l’espai de treball de la persona amb l’espai de treball de la màquina o robot a través de la interfície que introdueix dos processos d’escala. Un primer canvi d’escala s’aplica entre el moviment produït per l’operador i el produït a la interfície visual i un segon canvi està orientat a escalar l’espai real de la tasca sobre la interfície visual. Aquests canvis d’escala han de ser ajustats als objectes d’interès, resultant en una modificació de la resolució espacial d’acord amb la tasca a realitzar i la mida, forma, i velocitat dels objectes. Aquests canvis d’escala modifiquen el flux d’informació entre l’operador i la màquina d’acord amb les característiques i limitacions d’ambdós.

    La interacción persona-máquina en teleoperación, a través de la interfaz de usuario, permite conseguir el nivel de inteligencia necesario para ejecutar en cooperación tareas complejas que no pueden ser realizadas por máquinas o robots por si solos o directamente por las personas. Las técnicas de interacción facilitan el desarrollo de dichas tareas haciéndolas más eficientes y eficaces, mediante la mejora de cualquier sistema que incorpore una interfaz de usuario. Las personas poseen limitaciones motoras inherentes a la naturaleza humana (como el temblor fisiológico) y limitaciones perceptivas (como la percepción de la distancia o el tiempo) que impiden realizar una operación suficientemente suave y precisa en ciertas aplicaciones. Algunos estudios tratan este fenómeno y su efecto en los sistemas persona-máquina y sistemas teleoperados. Existen modelos psicomotores que muestran que la eficiencia de la manipulación humana en la selección de un objeto depende de determinados factores. Entre estos modelos, el más representativo corresponde a la Ley de Fitts en donde el tiempo de ejecución es una función logarítmica del tamaño y la distancia al objeto. En teleoperación, y en base a estos modelos psicomotores, se demuestra que una modificación en la escala visual de la interfaz tiene un efecto directo en el tiempo de ejecución de una tarea y en la precisión alcanzable. Lo mismo ocurre con un cambio en la amplitud de movimiento que realiza el operador con respecto al realizado por el sistema, con lo que el escalado del movimiento entre maestro y esclavo tiene un efecto significativo en la eficiencia y eficacia con la que se ejecuta una tarea. Este trabajo de investigación está orientado al diseño y desarrollo de un método concebido para mejorar la eficacia gracias a una mayor eficiencia visual y motora de la interfaz persona-máquina. El método se basa en la modificación del flujo de información entre persona, máquina e interfaz mediante el escalado tanto del movimiento de la persona como de la imagen de la tarea visualizada. El tiempo de operación, los movimientos de la mano de la persona y el grado de atención pueden reducirse con esta asistencia computarizada. Los cambios de escala se adaptan a la tarea, afectando positivamente al rendimiento en términos de precisión y rapidez. Por lo tanto, la metodología propuesta está orientada a conectar el espacio de trabajo de la persona con el espacio de trabajo de la máquina o robot a través de la interfaz que introduce dos procesos de escala. Un primer cambio de escala se aplica entre el movimiento producido por el operador y el producido en la interfaz visual y un segundo cambio está orientado a escalar el espacio real de la tarea sobre la interfaz visual. Estos cambios de escala deben ser ajustados a los objetos de interés, resultando en una modificación de la resolución espacial acorde con la tarea a realizar y el tamaño, forma, distancia y velocidad de los objetos. Dichos cambios de escala modifican el flujo de información entre el operador y la máquina acordes con las características y limitaciones de ambos.

  • Premi al reconeixement acadèmic

     Amat Girbau, Josep
    Award or recognition

    View View Open in new window  Share

  • Access to the full text
    Diseño de una arquitectura de ortesis adaptativa y estudio de la personalización de su grado de asistencia  Open access

     Amigo Vázquez, Luis Ernesto; Giralt Ludevid, Xavier; Fernández Castellvi, Quim; Casals Gelpi, Alicia; Amat Girbau, Josep
    Robótica Experimental
    Presentation's date: 2011-11-29
    Presentation of work at congresses

    Read the abstract Read the abstract Access to the full text Access to the full text Open in new window  Share Reference managers Reference managers Open in new window

    Uno de los principales objetivos de las terapias de rehabilitación del miembro superior asistidas por robots es incrementar la recuperación funcional al finalizar la terapia y a su vez disminuir el tiempo de esta recuperación, promoviendo la neuroplasticidad en pacientes con problemas neuromusculares. En este sentido es importante que los exoesqueletos se adapten a los movimientos del paciente y no al revés. Este artículo presenta un ortesis para la extremidad superior con servoadaptación dinámica para la articulación del codo con el objetivo de reducir las fuerzas de interacción causadas por el desalineamiento entre el robot y la extremidad superior. Se estudia además el grado de asistencia que se debe efectuar durante la terapia con el objetivo de promover la neuroplasticidad y que el paciente trabaje en la totalidad de sus capacidades optimizando así la recuperación.

  • Design of a 3-DoF joint system with dynamic servo-adaptation in orthotic applications

     Amigo, Luis; Casals Gelpi, Alicia; Amat Girbau, Josep
    IEEE International Conference on Robotics and Automation
    Presentation's date: 2011-05-10
    Presentation of work at congresses

    Read the abstract Read the abstract View View Open in new window  Share Reference managers Reference managers Open in new window

    Most exoskeleton designs rely on structures and mechanical joints that do not guarantee the right match between the orthosis and the user. This paper proposes a virtual joint model based on three active degrees of freedom aimed to emulate a human joint. This joint is capable of performing a dynamic servo-adaptation in real-time to avoid misalignments and to provide a flexible adjustment to different users’ sizes in order to avoid undesirable interaction forces.

  • Access to the full text
    Sistema integrado de posicionado, visualización y acotamiento de áreas de trabajo en cirugía ortopédica  Open access

     Casals Gelpi, Alicia; Basomba Feliu, Joan; Bergès Martín, Eduard; Frigola Bourlon, Manel; Amat Girbau, Josep
    Robótica Experimental
    Presentation's date: 2011-11-29
    Presentation of work at congresses

    Read the abstract Read the abstract Access to the full text Access to the full text Open in new window  Share Reference managers Reference managers Open in new window

    La percepción que el cirujano tiene de la intervención que está realizando es esencial para garantizar una operación segura y eficiente. En cirugía robotizada los sistemas de percepción disponibles son muy limitados, lo que puede paliarse generando información visual a proyectar sobre el paciente. El trabajo describe el modo de generar y proyectar la imagen 3D obtenida por TAC, así como trayectorias previamente planificadas, que serán de ayuda al guiado. Esta información es también utilizada para el guiado del robot que trabaja en cooperación con el cirujano, en modo comanipulación, evitando situaciones de riesgo y ayudando al cirujano en el guiado de los instrumentos quirúrgicos.

  • Motor-model-based dynamic scaling in human-computer interfaces

     Muñoz Morgado, Luis Miguel; Casals Gelpi, Alicia; Frigola Bourlon, Manel; Amat Girbau, Josep
    IEEE transactions on systems man and cybernetics Part B-Cybernetics
    Date of publication: 2011-04
    Journal article

    View View Open in new window  Share Reference managers Reference managers Open in new window

  • Sistema de visión para el control de ocupación de vehículos en una estación de peaje

     Amat Girbau, Josep; Basomba Feliu, Joan; Frigola Bourlon, Manel
    Date of request: 2011-07-06
    Invention patent

    Read the abstract Read the abstract Access to the full text Access to the full text Open in new window  Share Reference managers Reference managers Open in new window

    La presente invención permite el control automático de ocupación de vehículos en una estación de peaje. Dicho sistema automático comprende medios para la adquisición de imágenes de un vehículo a controlar, medios para el tratamiento de las imágenes adquiridas y la detección de caras dentro del vehículo y su conteo. Según el número de ocupantes validadas, se procede a aplicar un descuento en el peaje.

  • Access to the full text
    Intuitive graphic interface for assisted teleoperation in surgical applications  Open access

     Casals Gelpi, Alicia; Campos Querol, Jordi; Giralt Ludevid, Xavier; Amat Girbau, Josep
    Anglès
    Presentation's date: 2010-06-17
    Presentation of work at congresses

    Read the abstract Read the abstract Access to the full text Access to the full text Open in new window  Share Reference managers Reference managers Open in new window

    Human-Machine interfaces constitute a key factor to guarantee the effective use of technological equipment. In the field of image guided surgery and surgical robots, the availability of an adequate interaction means determines the suitability or not of a given technological aid. This work focuses on the problems surgeons find in planning and executing a robot assisted intervention. Analyzing the potential of computer graphics, together with the surgeons needs during, first, the planning and later on the development of a surgical intervention, the specifications and the implementation of an interface is described. In the design of this interface, special attention has been put on the gesture and attention capabilities that surgeons can devote to the interface.

  • Polyarticulated architecture for the emulation of an isocentric joint in orthetic applications

     Amigo Vasquez, Luis; Casals Gelpi, Alicia; Amat Girbau, Josep
    IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
    Presentation's date: 2010
    Presentation of work at congresses

    View View Open in new window  Share Reference managers Reference managers Open in new window

  • Robotics as a support tool for experimental optimisation of surgical strategies in orthopaedic surgery

     Frigola Bourlon, Manel; Vinagre, Manuel; Casals Gelpi, Alicia; Amat Girbau, Josep; Santana, Fernando; Torrens, C.
    Applied bionics and biomechanics
    Date of publication: 2010-09
    Journal article

    View View Open in new window  Share Reference managers Reference managers Open in new window

  • La Robótica una valiosa herramienta en cirugía

     Casals Gelpi, Alicia; Frigola Bourlon, Manel; Amat Girbau, Josep
    Revista iberoamericana de automática e informática industrial
    Date of publication: 2009-01
    Journal article

    View View Open in new window  Share Reference managers Reference managers Open in new window

  • Access to the full text
    Optimization criterion for safety task transfer in cooperative robotics  Open access

     Hernansanz Prats, Alberto; Amat Girbau, Josep; Casals Gelpi, Alicia
    International Conference on Advanced Robotics
    Presentation of work at congresses

    Read the abstract Read the abstract Access to the full text Access to the full text Open in new window  Share Reference managers Reference managers Open in new window

    This paper presents a strategy for a cooperative multirobot system, constituting a Virtual Robot. The Virtual Robot is composed of a set of robotic arms acting as only one, transferring the execution of a teleoperated task from one to another when necessary. To decide which of the robots is the most suitable to execute the task at every instant, a multiparametric decision function has been defined. This function is based on a set of intrinsic and extrinsic evaluation indexes of the robot. Since the internal operation of the Virtual Robot must be transparent to the user, a control architecture has been developed.

  • Optimization criterion for safety task transfer in cooperative

     Hernansanz Prats, Alberto; Amat Girbau, Josep; Casals Gelpi, Alicia
    International Conference on Advanced Robotics
    Presentation's date: 2009-06-22
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • GRUP DE RECERCA ROÒTICA INTEL·LIGENT I SISTEMES (GRINS)

     Amat Girbau, Josep; Aranda López, Juan; Muñoz Morgado, Luis Miguel; Hernansanz Prats, Alberto; Frigola Bourlon, Manel; Fernández Ruzafa, Jose; Martin Rull, Enric Xavier; Martinez Velasco, Antonio Benito; Casals Gelpi, Alicia
    Participation in a competitive project

     Share

  • Monitoring and robotizing shoulder arthroplasty for training and optimization of suturing techniques

     Casals Gelpi, Alicia; Amat Girbau, Josep; Frigola Bourlon, Manel; Rodríguez-Cheu, Luis Eduardo; Torrens, Carlos; Ginés, Albert
    International journal of computer assisted radiology and sugery (Online)
    Date of publication: 2008-05
    Journal article

    View View Open in new window  Share Reference managers Reference managers Open in new window

  • From Micro- to Nano: Optical-based Coordination in a Multi-tip AFM

     Jorge, Otero; Samitier Martí, Josep; Frigola Bourlon, Manel; Casals Gelpi, Alicia; Amat Girbau, Josep
    Seeing at the Nanoscale
    Presentation's date: 2008-07-10
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • Robotic Proximity Queries Library for Online Motion Planning Applications

     Giralt Ludevid, Xavier; Hernansanz Prats, Alberto; Amat Girbau, Josep; Rodríguez, Alberto
    Date of publication: 2008-11
    Book chapter

     Share Reference managers Reference managers Open in new window

  • MILANA: A LOW COST GLIDER USED FOR BUILDING A MAP OF THE BARCELONA SEA BED

     Amat Girbau, Josep; Escoté, O; Frigola, A M; Giralt, X; Hernansanz Prats, Albert
    Date of publication: 2008-09
    Book chapter

     Share Reference managers Reference managers Open in new window

  • Flexible trajectory generation to extend human-robot interaction with dynamic environment adaptation

     Giralt Ludevid, Xavier; Amat Girbau, Josep
    Fifth International Conference on Informatics in Control, Automation and Robotics
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • Compliant strategies baCompliant strategies based on force, torque, contact and proximity for Human Robot Interaction

     Casals Gelpi, Alicia; Giralt Ludevid, Xavier; Frigola Bourlon, Manel; Amat Girbau, Josep
    IARP-IEEE/RAS Joint Workshop on Technical Challenge for Dependable Robots in Human Environments
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • Assisted Teleoperation and Dependability

     Casals Gelpi, Alicia; Muñoz Morgado, Luis Miguel; Frigola Bourlon, Manel; Amat Girbau, Josep
    2007 IARP International Workshop on Technical Challenges on Dependable Robots in Human Environments
    Presentation's date: 2007-04-15
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • Computer vision body modeling for gesture based teleoperation

     Frigola Bourlon, Manel; Amat Girbau, Josep; Casals Gelpi, Alicia; Rodriguez, A
    Date of publication: 2007-06
    Book chapter

     Share Reference managers Reference managers Open in new window

  • RPQ: Robotic Proximity Queries. Development and Applications

     Hernansanz Prats, Albert; Giralt, X; Rodríguez, A; Amat Girbau, Josep
    Internacional Conference on Informatics in Control, Automation and Robotics
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • Technology and Disability. The Cost, Efficiency and Acceptability Trade-off

     Amat Girbau, Josep; Casals Gelpi, Alicia
    IEEE ICRA'07: Workshop on Roboethics
    Presentation's date: 2007-04-14
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • Study and optimization of a multi-arm workstation for laparoscopic surgery

     Casals Gelpi, Alicia; Amat Girbau, Josep; Pérez de la Fuente, Carlos
    IEEE/RSJ IROS Workshop on Multiobjective Robotics
    Presentation's date: 2006-10-10
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • Robots submarins contra la contaminació: El cas Prestige

     Amat Girbau, Josep
    Date of publication: 2006-06
    Book chapter

     Share Reference managers Reference managers Open in new window

  • Quasi hands free interaction with a robot for on-line task correction

     Casals Gelpi, Alicia; Frigola Bourlon, Manel; Amat Girbau, Josep; Laporte, E
    Date of publication: 2006-04
    Book chapter

     Share Reference managers Reference managers Open in new window

  • Robotics and Automation in the Maritime Industries

     Amat Girbau, Josep; Frigola Bourlon, Manel; Giralt Ludevid, Xavier
    Date of publication: 2006-11
    Book

     Share Reference managers Reference managers Open in new window

  • Human-robot interaction based on a sensitive bumper skin

     Frigola Bourlon, Manel; Casals Gelpi, Alicia; Amat Girbau, Josep
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • Improved AFM Scanning Methodology with Adaptation to the Target Shape

     Muñoz Morgado, Luis Miguel; Casals Gelpi, Alicia; Amat Girbau, Josep; Puig-Vidal, Manel; Samitier Martí, Josep
    IEEE International Conference on Robotics and Automation
    Presentation's date: 2005-04-20
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • Robust modeling of a body for Human -Robot Interaction

     Frigola Bourlon, Manel; Rodriguez, Alberto; Amat Girbau, Josep; Casals Gelpi, Alicia
    IEEE International Conference on Robotics and Automation
    Presentation's date: 2005-04-18
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • Human robot interaction introducing a virtual elasticity factor to the end-effector trajectory

     Amat Girbau, Josep; Casals Gelpi, Alicia; Frigola Bourlon, Manel; Giralt, X
    IARP/IEEE-RAS/EURON Workshop on Technical Challenges for Dependable Robots in Human Environments
    Presentation's date: 2005-06-16
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • Sistema de iluminación, instalación para una intervención quirúrgica, y método de iluminación de una mesa de operaciones en un quirófano

     Amat Girbau, Josep; Casals Gelpi, Alicia; Frigola Bourlon, Manel; Laporte, E
    Date of request: 2005-09-29
    Invention patent

     Share Reference managers Reference managers Open in new window

  • ¿es útil un robot en cirugía? uso de la videocamara de viedeoendoscopia en la colicestoctomía

     Laporte, E; Amer, A M; García-Monformte, N; Casals Gelpi, Alicia; Amat Girbau, Josep
    Cirugia española
    Date of publication: 2004-06
    Journal article

     Share Reference managers Reference managers Open in new window

  • Quasi hands free interaction with a robot for online task correction

     Casals Gelpi, Alicia; Frigola Bourlon, Manel; Amat Girbau, Josep; Laporte, J Amat I E
    International Symposium on Experimental Robotics
    Presentation's date: 2004-06-18
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • Sistema de navegació experimental basat en ultrassons per al seguiment tridimensional de posició en temps real en entorns quirúrgics

     Xavier, Giralt; Amat Girbau, Josep
    Jornadas de Investigación en Ingeniería Biomédica
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • La informática al servei de la societat: la visualització del fons marí del litoral de Barcelona

     Amat Girbau, Josep; Casals Gelpi, Alicia; Frigola Bourlon, Manel; Hernansanz Prats, Albert
    Congrés d'Enginyeria en Llengua Catalana
    Presentation's date: 2004-11-20
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • Human Robot Interaction from Visual Perception

     Amat Girbau, Josep; Frigola Bourlon, Manel; Casals Gelpi, Alicia
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    Presentation's date: 2004-09-30
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • Research in Underwater Robotics in the Automatic Control Department at the Technical University of Catalonia

     Amat Girbau, Josep; Casals Gelpi, Alicia; Monferrer De La Peña, Alexandre; Muñoz Morgado, Luis Miguel; Frigola Bourlon, Manel; Fernández Ruzafa, Jose; Escoté, O; Giralt, X
    Date of publication: 2004-11
    Book chapter

     Share Reference managers Reference managers Open in new window

  • Interactive real time reprogramming of surgical robotic tasks operating in changing conditions

     Frigola Bourlon, Manel; Poyatos, J; Casals Gelpi, Alicia; Amat Girbau, Josep
    World Automation Congress
    Presentation of work at congresses

    View View Open in new window  Share Reference managers Reference managers Open in new window

  • Les noves tecnologies, una oportunitat per a la competitivitat de les petites empreses

     Amat Girbau, Josep
    Congrés d'Enginyeria en Llengua Catalana
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • SISTEMA INTEL·LIGENT D'AJUDA I SUPERVISIÓ DE TELEOPERACIÓ (DPI2004-04558 )

     Amat Girbau, Josep; Ojeda Rodriguez, Jordi
    Participation in a competitive project

     Share

  • El traçat del tgv per les comarques de girona: necessitat d'un compromís amb l'impacte ambiental

     Amat Girbau, Josep; Morraja, C; Santandreu, J
    Congrés d'Enginyeria en Llengua Catalana
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window

  • Scale Dynamica Adaptation of the Local Space for Assisted Teleoperation

     Muñoz Morgado, Luis Miguel; Casals Gelpi, Alicia; Amat Girbau, Josep
    IEEE International Conference on Robotics and Automation
    Presentation's date: 2004-04-28
    Presentation of work at congresses

     Share Reference managers Reference managers Open in new window