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Diseño y desarrollo de una arquitectura electrónica bioinspirada para el control de sistemas de asistencia a la locomoción

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Diseño y desarrollo de una arquitectura electrónica bioinspirada para el control de sistemas de asistencia a la locomoción

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dc.contributor.author Delgado-Oleas, Gabriel es_ES
dc.contributor.author Romero-Sorozabal, Pablo es_ES
dc.contributor.author Lora-Millan, Julio es_ES
dc.contributor.author Gutierrez, Alvaro es_ES
dc.contributor.author Rocon, Eduardo es_ES
dc.date.accessioned 2023-07-10T12:21:14Z
dc.date.available 2023-07-10T12:21:14Z
dc.date.issued 2023-04-25
dc.identifier.issn 1697-7912
dc.identifier.uri http://hdl.handle.net/10251/194757
dc.description.abstract [EN] This article presents the design and development of a bio-inspired electronic architecture based on the human motor system for locomotion assistance systems, as in the case of assistive or rehabilitation exoskeletons. The proposed architecture is divided into three hierarchical levels and implemented in ROS2, facilitating modularity and parallelism in the execution and operation of the system. The proposal has been implemented in an exoskeleton prototype called Discover2Walk. The results show that the proposal can be applied to both exoskeleton applications for rehabilitation and assistance. This architecture offers greater modularity, improved compatibility with programming languages, scalability, interoperability with other robotics and automation systems, support for distributed applications, and ease of monitoring and control. The presented control architecture may be adopted in future robotic platforms and exoskeletons, improving motor control of gait and offering more personalized therapies. es_ES
dc.description.abstract [ES] Este artículo presenta el diseño y desarrollo de una arquitectura electrónica bioinspirada en el sistema motor humano para sistemas de asistencia a la locomoción, como es en el caso de exoesqueletos de asistencia o de rehabilitación. La arquitectura propuesta se divide en tres niveles jerárquicos y se implementa en ROS2, facilitando la modularidad y el paralelismo en la ejecución y funcionamiento del sistema. La propuesta ha sido implementada en un prototipo de exoesqueleto denominado Discover2Walk. Los resultados obtenidos muestran que la propuesta puede aplicarse a ambos tipos de aplicación de exoesqueletos, tanto para rehabilitación como para asistencia. Entre las ventajas que ofrece esta arquitectura, destacan una mayor modularidad, la mejora de la compatibilidad con lenguajes de programación, la escalabilidad, la interoperabilidad con otros sistemas de robótica y automatización, el soporte para aplicaciones distribuidas y la facilidad de supervisión y control. La arquitectura de control que se presenta puede llegar a ser adoptada en futuras plataformas robóticas y exoesqueletos, mejorando el control motor de la marcha y ofreciendo terapias más personalizadas. es_ES
dc.description.sponsorship Este trabajo ha sido realizado en el marco del proyecto Discover2Walk “Desarrollo de una plataforma robótica para ayudar a niños con Parálisis Cerebral a descubrir cómo caminar”, referencia PID2019-105110RB-C31, financiado por el Ministerio de Ciencia e Innovación. es_ES
dc.language Español es_ES
dc.publisher Universitat Politècnica de València es_ES
dc.relation.ispartof Revista Iberoamericana de Automática e Informática industrial es_ES
dc.rights Reconocimiento - No comercial - Compartir igual (by-nc-sa) es_ES
dc.subject Biomimicry es_ES
dc.subject Architecture es_ES
dc.subject Exoskeletons es_ES
dc.subject Human gait es_ES
dc.subject ROS es_ES
dc.subject Lower-limb es_ES
dc.subject Biomimetismo es_ES
dc.subject Arquitectura es_ES
dc.subject Exoesqueletos es_ES
dc.subject Marcha humana es_ES
dc.subject Miembro-inferior es_ES
dc.title Diseño y desarrollo de una arquitectura electrónica bioinspirada para el control de sistemas de asistencia a la locomoción es_ES
dc.title.alternative Design and development of a bioinspired electronic architecture for the control of locomotion assistance systems es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.4995/riai.2023.18748
dc.relation.projectID info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2019-105110RB-C31/ES/DESARROLLO DE UNA PLATAFORMA ROBOTICA PARA AYUDAR A NIÑOS CON PARALISIS CEREBRAL A DESCUBRIR COMO CAMINAR/ es_ES
dc.rights.accessRights Abierto es_ES
dc.description.bibliographicCitation Delgado-Oleas, G.; Romero-Sorozabal, P.; Lora-Millan, J.; Gutierrez, A.; Rocon, E. (2023). Diseño y desarrollo de una arquitectura electrónica bioinspirada para el control de sistemas de asistencia a la locomoción. Revista Iberoamericana de Automática e Informática industrial. 20(3):293-302. https://doi.org/10.4995/riai.2023.18748 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.4995/riai.2023.18748 es_ES
dc.description.upvformatpinicio 293 es_ES
dc.description.upvformatpfin 302 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 20 es_ES
dc.description.issue 3 es_ES
dc.identifier.eissn 1697-7920
dc.relation.pasarela OJS\18748 es_ES
dc.contributor.funder Agencia Estatal de Investigación es_ES
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