Browsing by Keyword "Perception"
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Item Evoked sensations with transcutaneous electrical stimulation with different frequencies, waveforms, and electrode configurations(2023-01) Imatz-Ojanguren, Eukene; Keller, Thierry; Imatz‐Ojanguren, Eukene; Medical Technologies; Tecnalia Research & InnovationBackground: Current Perception Threshold (CPT) is a technique used for diagnostic purposes that applies sinusoidal currents transcutaneously at 5 Hz, 250 Hz, and 2KHz to preferentially excite C, Aδ, and Aβ afferent nerve fibers correspondingly. This fact may be interesting for evoking different electrotactile sensations for a wide variety of applications. Methods: Sensations evoked by 5 Hz, 250 Hz, and 2KHz frequencies; sinusoidal, square, and 250 μs-pulsed waveforms; and conventional and concentric electrode configurations were analyzed in 19 healthy volunteers. Stimuli were applied in the dorsum of the hand in a double-blind manner and CPTs were defined based on participants' verbal feedback. After each stimulus participants filled in a form with sensation modality, irradiation, intensity, and emotion descriptors. Results: The frequency showed a significant effect on the four domains of evoked sensations and the waveform showed a significant effect on the modality domain. For most waveform and electrode configuration combinations, 5 Hz evoked mostly a low-intensity prickling sensation; 250 Hz mostly evoked an uncomfortable medium-intensity tingling sensation; and 2KHz mostly evoked a low-intensity tingling sensation. No thermal or noxious sensations were evoked. A significant interaction effect was only found between the frequency and the waveform factors. The electrode configuration did not show either a significant effect on the evoked sensations or an interaction effect with the frequency or waveform type. Conclusions: Transcutaneous electrical stimulation may evoke different sensations at different frequencies due to the preferential activation of different fiber types. The results of these analysis could be used to enhance human-machine/computer-interaction systems based on electrotactile feedback.Item Innovative Mobile Manipulator Solution for Modern Flexible Manufacturing Processes(2019-12-02) Outón, Jose Luis; Villaverde, Iván; Herrero, Héctor; Esnaola, Urko; Sierra, Basilio; ROBOTICA_FLEXThere is a paradigm shift in current manufacturing needs that is causing a change from the current mass-production-based approach to a mass customization approach where production volumes are smaller and more variable. Current processes are very adapted to the previous paradigm and lack the required flexibility to adapt to the new production needs. To solve this problem, an innovative industrial mobile manipulator is presented. The robot is equipped with a variety of sensors that allow it to perceive its surroundings and perform complex tasks in dynamic environments. Following the current needs of the industry, the robot is capable of autonomous navigation, safely avoiding obstacles. It is flexible enough to be able to perform a wide variety of tasks, being the change between tasks done easily thanks to skills-based programming and the ability to change tools autonomously. In addition, its security systems allow it to share the workspace with human operators. This prototype has been developed as part of THOMAS European project, and it has been tested and demonstrated in real-world manufacturing use cases.Item LIFE+2010 QUADMAP Project: results obtained from the analysis of data collected during the application of the new methodology to the pilot quiet areas: Results obtained from the analysis of data collected during the application of the new methodology to the pilot quiet areas(2019-01-01) Bartalucci, Chiara; Borchi, Francesco; Carfagni, Monica; Governi, Lapo; Luzzi, Sergio; Aspuru, Itziar; Gaudibert, Piotr; Wolfert, Henk; CALIDAD Y CONFORT AMBIENTALSince the 90s, quiet areas have commonly been considered as places to be acoustically preserved or where acoustic interventions should be implemented to reduce noise levels. With the enforcement of the Environmental Noise Directive in 2002, a formal definition of a ‘quiet area in agglomeration’ and a ‘quiet area in open country’ was established. However, many Member States complained about the absence of guidelines regarding the identification and management of quiet areas. The LIFE QUiet Areas Definition and Management in Action Plans (QUADMAP) project started in 2011 to contribute to the Directive’s incomplete requirements for quiet areas. The project’s main result has been the introduction of a flexible methodology for the selection, analysis and management of quiet areas in agglomeration in which both acoustic and nonacoustic parameters are evaluated. The current paper illustrates the analyses carried out on the data collected during the application of the selection, analysis and management phases of the developed methodology in the different pilot cases selected during the Project. Mentioned analysis are aimed at verifying the benefits of the proposed complementary selection criteria (‘relative quiet urban areas’ identification criteria and ‘homogeneous urban areas’ subdivision criteria), at defining the measurement periods most representative of the areas and the acoustic and nonacoustic parameters to be considered as the most significant.Item Open-Digital-Industrial and Networking pilot lines using modular components for scalable production – ODIN project approach(2022) Makris, Sotiris; Michalos, George; Kousi, Niki; Papavasileiou, Apostolis; Campos, Urko Esnaola; Bravo, Jon Oñativia; Cueva, Hector Herrero; Siltala, Niko; Wang, Lihui; Suppa, Michael; Ubis, Fernando; Broechler, Raimund; Koukas, Spyridon; ROBOTICA_FLEXWhile robots have very well proven their flexibility and efficiency in mass production and are recognized as the production resource of the future, their adoption in lower volume, diverse environment is heavily constrained. The main reason for this is the high integration and deployment complexity that overshadows the performance benefits of this technology. This paper presents the vision of ODIN European funded project which is to strengthen the EU production companies’ trust in utilizing advanced robotics, by demonstrating that novel robot-based production systems are not only technically feasible, but also efficient and sustainable for immediate introduction at the shopfloor. To achieve that, ODIN brings together, by means of hardware and software, the latest technological advancements in the fields of a) collaborating robots and human robot collaborative workplaces, b) autonomous robotics and AI based task planning, c) mobile robots and reconfigurable tooling, d) Digital Twins and Virtual Commissioning and e) Service Oriented Robotics Integration and Communication Architectures. ODIN will provide a systematic approach for integrating these technologies under modular and reconfigurable large-scale robotic pilots. The performance of these robotic pilots will be tested and validated in three case studies, from the automotive, the white goods and the aeronautics industry.Item A Real Application of an Autonomous Industrial Mobile Manipulator within Industrial Context(2021-05-27) Outón, Jose Luis; Merino, Ibon; Villaverde, Iván; Ibarguren, Aitor; Herrero, Héctor; Daelman, Paul; Sierra, Basilio; Tecnalia Research & Innovation; ROBOTICA_FLEX; ROBOTICA_AUTOMAIn modern industry there are still a large number of low added-value processes that can be automated or semi-automated with safe cooperation between robot and human operators. The European SHERLOCK project aims to integrate an autonomous industrial mobile manipulator (AIMM) to perform cooperative tasks between a robot and a human. To be able to do this, AIMMs need to have a variety of advanced cognitive skills like autonomous navigation, smart perception and task management. In this paper, we report the project’s tackle in a paradigmatic industrial application combining accurate autonomous navigation with deep learning-based 3D perception for pose estimation to locate and manipulate different industrial objects in an unstructured environment. The proposed method presents a combination of different technologies fused in an AIMM that achieve the proposed objective with a success rate of 83.33% in tests carried out in a real environment.