Omar Arturo Dominguez-Ramirez

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Path planning methods are well suited to automatically perform robotic tasks; haptic guidance is a powerful tool for disabled people rehabilitation, sports training, handcraft skills acquiring and such kind of enactive tasks. This paper proposes a novel an efficient method to accomplish guided movements by efficiently combing path planning methods and(More)
This article presents the experimental verification of kinematic and dynamic models of the PHANToM Premium 1.0 haptic device [2]. Dynamic properties are evaluated [7], in order to apply nonlinear control techniques and evaluation of manipulability and energy in real-time. Position kinematics and differential kinematics are validated for the trajectory(More)
This article presents a strategy of haptic guidance for training based on a sub-optimal control law for path planning, designed from theory passive and applied to haptic devices modeling as manipulators robots with contact task, considering the human operator in the control loop. The experiments were developed with the PHANToM premium 1.0 haptic device and(More)
There are many research works on robotic devices to assist in movement training following neurologic injuries such as stroke with effects on upper limbs. Conventional neurorehabilitation appears to have little impact on spontaneous biological recovery, to this end robotic neurorehabilitation has the potential for a greater impact. Clinical evidence(More)
In this paper, we present a mechanical design, based on robotic paradigms, of an upper limb exoskeleton for motion analysis in diagnosis and as a passive device to correct abnormal movements in rehabilitation of children with neuromuscular disorders. Our proposal considers the exoskeleton as a full articulated anthropomorphic manipulator that reproduce the(More)
training based on a sliding model control law for path planning, designed from passivity theory, applied to haptic devices modelling as manipulators robots with contact task, considering the human operator in the control loop. The experiments were developed with the Phantom premium 1.0 haptic device and a closed path planning in its space of admissible(More)
In this paper a PID control applied particularly in robot manipulators. To understand the development of the proposal presents a mathematical preliminary section we used, we explicitly describe relevant aspects of kinematics and dynamics of the haptic device Phantom Premium 1.0, technology and mathematical models, and the design and experimental results of(More)
This paper presents the design of a motion control strategy based on passivity theory and energy analysis applied to Euler-Lagrange (E-L) systems, particularly to robot manipulators and with purpose to haptic devices. The performance of a robotic structure depends of a proper design of a motion control technique in a regulation action or trajectory tracking(More)