Rodolfo García-Rodríguez

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Cooperative robots have attracted the attention because they allow carrying out of tasks which cannot be done with a single robot. Though cooperative robot dynamics are quite complex to handle, regularly it is necessary to implement a nonlinear dynamics-based controller which guarantees fast tracking. A method for very fast constrained object maneuvering(More)
BACKGROUND Proton pump inhibitor-responsive oesophageal eosinophilia (PPI-REE) is common in patients with suspected eosinophilic oesophagitis (EoE). However, the long-term efficacy of PPIs and the best maintenance doses are yet to be defined. AIM To evaluate the durability of the response to PPI therapy after tapering PPI doses in PPI-REE patients. (More)
Force-position control through one or multiple robots, or fingers, typically assumes a rigid endpoint without rolling nor slipping. However, there are some interesting tasks where rolling is involved, such as turning a knob (object is pivoting at a fixed rotational axis) or rolling a wheel (object rotational axis is moving). In such a case, rigid endpoint(More)
Manipulation with soft-fingertips is proposed as a tool for interacting with rigid objects, based on an online bilateral teleoperation fuzzy controller, without time delay. The fuzzy inference engine tunes continuously the force feedback gain to increase awareness of physical interaction so as to grasping is achieved. In contrast to the case of rigid(More)
In this paper, we are interested in a scheme that proves effective use of soft fingertips for human-in-the-loop telemanipulation. Motion planning is carried out by the human-in-the-loop to grasp and manipulate an object using viscoelastic soft fingertips. In addition, to grasp an object firmly, an estimated torque is synthesized based on fuzzy inference.(More)
Diverse image-based tracking schemes for a robot moving in free motion have been proposed and experimentally validated. However, few visual servoing schemes have addressed the tracking of the desired trajectory and the contact forces for multiple robot arms. The main difficulty stems from the fact that camera information cannot be used to drive force(More)
INTRODUCTION Cow's milk and egg are the most frequent causes of food allergy in the first years of life. Treatments such as oral immunotherapy (OIT) have been investigated as an alternative to avoidance diets. No clinical practice guides on the management of OIT with milk and egg are currently available. OBJECTIVES To develop a clinical guide on OIT based(More)