Manuel Ferre

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This paper describes a new control method of teleoperation systems with communication time delay. This method models the teleoperation system in the state space, considering all the possible interactions that could appear in the operator-master-slave-environment set, and it uses the Taylor expansion to model the time delay. The control system allows that(More)
This chapter introduces the main topics of a telerobotic system. It describes the architecture of such a system from a general point of view and emphasizes the interaction between a human operator and a robot that performs the task in the remote environment. Furthermore it focuses on multi-modal human system interfaces and explains the main features of(More)
This work is focused on obtaining efficient human hand models that are suitable for manipulation tasks. A 24 DoF kinematic model of the human hand is defined to realistic movements. This model is based on the human skeleton. Dynamic and static constraints have been included in order to improve the movement realism. Two simplified hand models with 9 and 6(More)
This article presents research focused on tracking manual tasks that are applied in cognitive rehabilitation so as to analyze the movements of patients who suffer from Apraxia and Action Disorganization Syndrome (AADS). This kind of patients find executing Activities of Daily Living (ADL) too difficult due to the loss of memory and capacity to carry out(More)
This article focuses on the use of stereoscopic video interfaces for telerobotics. Topics concerning human visual perception, binocular image capturing, and stereoscopic devices are described. There is a wide variety of video interfaces for telerobotic systems. Choosing the best video interface depends on the telerobotic application requirements. Simple(More)