Memorias de Congresos UTP https://revistas.utp.ac.pa/index.php/memoutp <p><span>Este espacio tiene el objetivo de publicar las memorias de <span>los Congresos Académicos y Científicos que realiza la Institución y los resúmenes de sus publicaciones. </span></span></p><p><span><span>Es una vitrina que permite visualizar los aportes científicos y académicos que generan nuestros investigadores, docentes y colaboradores externos.</span></span></p> Universidad Tecnológica de Panamá es-ES Memorias de Congresos UTP Proposal of air compressing device using walking vibration energy regeneration for pneumatic driven assistive device https://revistas.utp.ac.pa/index.php/memoutp/article/view/1875 Pneumatically driven wearable assistive devices for walking have been developed recently. These devices can achieve flexible assistance without control; however, they require large and heavy air compressors for activation. In this study, a pneumatically driven source using vibration energy regeneration from walking was developed. The aim was to activate the cylinder using vibrations due to walking and compressed air. A mass element, which is connected to a human body via a spring and a cylinder, vibrates along with the human gait cycle. Next, a prototype was developed and tested. In walking experiments, stored pressure was measured at several gait cycles and masses for comparison. Results indicate that the gait cycle period and masses affect the stored pressure; the highest pressure recorded was 0.08 MPa. Manabu Okui Yasuyuki Yamada Taro Nakamura ##submission.copyrightStatement## http://creativecommons.org/licenses/by-nc-nd/4.0 2018-11-26 2018-11-26 45 52 Local and global artificial potential functions in the control of mobile robots https://revistas.utp.ac.pa/index.php/memoutp/article/view/1872 The article presents overview of authors' results concerning mobile robot con- trol algorithms that use local arti cial potential functions (APF) to avoid colli- sions and global arti cial potential functions, named also navigation functions (NF) used to both collision avoidance and driving robot to a desired goal. All included algorithms assume that the mobile platform is di erentially driven mobile robot with nonholonomic constraints. E ectiveness of presented meth- ods is illustrated by simulation and experimental results. Experimental setup used to demonstrate control algorithms is presented.The article presents overview of authors' results concerning mobile robot con-trol algorithms that use local articial potential functions (APF) to avoid colli-sions and global articial potential functions, named also navigation functions(NF) used to both collision avoidance and driving robot to a desired goal. Allincluded algorithms assume that the mobile platform is dierentially drivenmobile robot with nonholonomic constraints. Eectiveness of presented meth-ods is illustrated by simulation and experimental results. Experimental setupused to demonstrate control algorithms is presented. K. Kozlowski W. Kowalczyk ##submission.copyrightStatement## http://creativecommons.org/licenses/by-nc-nd/4.0 2018-11-26 2018-11-26 5 20 System identification and HSDBC-optimized pid control of a portable lower-limb rehabilitation device https://revistas.utp.ac.pa/index.php/memoutp/article/view/1873 The present paper introduces a novel portable leg rehabilitation system (PLRS) that is developed to provide the user with the necessary rehabilitation exercises for both the knee and ankle in addition to the portability feature to overcome the hardships associated with both effort and cost of hospitals and rehabilitation clinics’ steady sessions. Prior realizing the actual prototype, the proposed configuration was visualized using SolidWorks including its main components. Aiming to control the developed system, and given the fact that tuning controller parameters is not an easy task, Hybrid Spiral-Dynamics Bacteria-Chemotaxis (HSDBC) algorithm has been applied on the proposed control strategy in order to obtain a satisfactory performance. The obtained system performance was satisfactory in terms of desired elevation and settling time. Sulaiman O. Fadlallah Khaled M. Goher ##submission.copyrightStatement## http://creativecommons.org/licenses/by-nc-nd/4.0 2018-11-26 2018-11-26 25 35 Design of a system to support the mobility of visually impaired people https://revistas.utp.ac.pa/index.php/memoutp/article/view/1874 The autonomous mobility for visually impaired people has been an issue in where several researchers have contributed with proposals in order to solve it. However, there is a lot of work to carry out in the cities in where this kind of technology has been applied, but also in other cities or town where this or other technology not has arrived yet. In this work two different ICT-based systems have been described, which provide helps in the mobility of visually impaired people in the public transport in Panama. One of them consists of the development of new applications for Android-based smartphones, and the second system is based on the development of RF modules into the ISM radio band. These prototypes are used by the visually impaired people and by the bus driver, and one of them is installed at the bus stop. Hector Montes Ignacio Chang Guelda Carballeda Jose Muñoz Antony Garcia Rafael Vejarano+ Yessica Saez ##submission.copyrightStatement## http://creativecommons.org/licenses/by-nc-nd/4.0 2018-11-26 2018-11-26 37 44 Standing Assistance That Considers User Posture Tolerance https://revistas.utp.ac.pa/index.php/memoutp/article/view/1880 <p>This paper proposes a novel standing assistance robot, which considers the posture tolerance of its user. In previous studies, conventional assistive robots did not require patients to use their own physical strength to stand, which leads to decreased strength in the elderly. Therefore, an assistive robot that allows patients to maximally use the physical strength they possess is required. To realize this objective, it is important that a robot assists patients according to their body movement and by their intentions. However, in previous studies, general assistive robots helped patients by using a xed motion reference path- way in spite of their original intention, and as a result, these robots failed to use the physical strength of the patients. Therefore, we propose a novel standing assistance robot, which allows its user to move their body within a prescribed degree of posture tolerance during the process of moving from a sitting to a standing position. Our key ndings cover two fundamental research topics. One is the investigation into posture tolerance during a standing motion. The other topic is a novel assistance control algorithm that considers the investigated posture tolerance by combining position control and force control. A prototype assistive robot, based on the proposed idea was fabricated to help patients stand up safely using the maximum of their remaining physical strength.</p> M. Yokota S. Kawazoe D. Chugo H. Hashimoto ##submission.copyrightStatement## http://creativecommons.org/licenses/by-nc-nd/4.0 2018-11-26 2018-11-26 79 88 Kinetic Analysis Of An Ankle Rehabilitator Composed Of Two Parallel Delta Robots. https://revistas.utp.ac.pa/index.php/memoutp/article/view/1881 The present research shows the kinetic analysis of an ankle rehabilitator, the rehabilitation mechanism consists of a fixed platform in which there are two inverted delta robots linked a mobile platform, actuators are controlled by servomotors which provide six basic movements of ankle rehabilitation like dorsiflexion, plantar flexion, inversion, eversion, abduction and adduction, which was verified through a motion study and singularity analysis. The design of the rehabilitator is based on the establishment of a methodology that allows the development of a machine that achieves all the ergonomic, technological and quality requirements, using tools of computational mechanics that allowed generating a virtual model able to generate the required movements and supporting the mechanical stress generated. The mechanism was modeled in CAD software such as SolidWorks, with the virtual model is possible to analyze the inverse and direct kinematics determining the position and speed of the joints, for the selection of the servomotors the dynamic analysis was made, obtaining the accelerations, forces and torques using the MSC Adams software. For the analysis of deformations, normal stresses and shear forces, the CAE software such as ANSYS was used, which works on the basis of the finite element method, with its Workbench platform and its structural analysis module. Finally, the machine was built using 3D printing and performance tests were carried out. Miguel Pérez Bayas Geovanny Novillo Andrade Sócrates Miguel Aquino Arroba Javier Gavilanes Carrión ##submission.copyrightStatement## http://creativecommons.org/licenses/by-nc-nd/4.0 2018-11-26 2018-11-26 89 97 Body Design Of Tendon-Driven Jumping Robot Using Single Actuator And Wire Set https://revistas.utp.ac.pa/index.php/memoutp/article/view/1882 <p>Although a mechanism in which a single actuator and a wire passing through pulleys drive the joints is a strong candidate for realizing the dynamic behavior because of its appropriate weight and simple mechanism, the problem arises that the position of the pulley influences the dynamic behavior. This paper is focused on vertical jumping. In our research, we searched an appropriate set of positions of a pulley considering the practical development of the robot and derived the relationship between the position of the pulley and the force on the tips of the robot&amp;rsquo;s foot for jumping. Simulation results suggest the possibility that some sets of positions allow an error in the attachment of the pulley, and the derived relationship indicates that the ratio of the pulling force of wire and vertical force on the ground strongly constrain the position of the pulley.</p> T. Takuma K. Takai Y. Iwakiri W. Kase ##submission.copyrightStatement## http://creativecommons.org/licenses/by-nc-nd/4.0 2018-11-26 2018-11-26 101 108 Slider: A Bipedal Robot With Knee-Less Legs And Vertical Hip Sliding Motion https://revistas.utp.ac.pa/index.php/memoutp/article/view/1883 This paper introduces SLIDER, a new bipedal robot featuring knee-less legs and vertical hip sliding motion. Its non-anthropomorphic design has several advantages over the conventional anthropomorphic leg design. The lack of knees reduces the overall leg weight to only 3 kg and also reduces the moment of inertia of the leg rotation. SLIDER's ultra-lightweight legs make it suitable for agile locomotion. To test the design, we created a dynamic model of SLIDER in Gazebo and implemented a two-stage walking pattern generator, achieving a walking speed of 0.18 m/s in simulation. A physical prototype of SLIDER is currently under construction for real-world testing. Ke Wang Aksat Shah Petar Kormushev ##submission.copyrightStatement## http://creativecommons.org/licenses/by-nc-nd/4.0 2018-11-26 2018-11-26 109 116 Optimization Of Feedback Control Inputs For Posture Control Of A Six-Legged Robot https://revistas.utp.ac.pa/index.php/memoutp/article/view/1885 In this study, an optimization method of feedback control inputs for a posture control of a six-legged robot was developed. The authors had proposed a method to control using an optimum servo system as a posture control method of a six-legged robot. As a problem of this method, because the feedback (FB) gain was switched at the time of switching the swing leg, the control inputs becomes discontinuous and there was a problem that the posture variation increases. After that, FB inputs of the thigh link obtained by optimum servo system were optimized. Then, we design a control system that suppressed the posture variation that occurs during swing leg switching. The effectiveness of the proposed control method was confirmed using a 3D model of a six-legged robot. Hiroaki Uchida ##submission.copyrightStatement## http://creativecommons.org/licenses/by-nc-nd/4.0 2018-11-26 2018-11-26 117 124 Interactive Co-Design Of Form And Function For Legged Robots Using The Adjoint Method https://revistas.utp.ac.pa/index.php/memoutp/article/view/1888 Our goal is to make robotics more accessible to casual users by reducing the domain knowledge required in designing and building robots. Towards this goal, we present an interactive computational design system that enables users to design legged robots with desired morphologies and behaviors by specify- ing higher level descriptions. The core of our method is a design optimization technique that reasons about the structure and motion of a robot in a coupled manner to achieve user-speci ed robot behavior and performance. We are in- spired by the recent works that also aim to jointly optimize robot's form and function. However, through eficient computation of necessary design changes, our approach enables us to keep user-in-the-loop for interactive applications. We evaluate our system in simulation by starting with initial user designs that are physically infeasible or inadequate to perform the user-desired task. We then show optimized designs that achieve user-speci cations, all while ensur- ing an interactive design  ow. Ruta Desai Beichen Li Ye Yuan Stelian Coros ##submission.copyrightStatement## http://creativecommons.org/licenses/by-nc-nd/4.0 2018-11-26 2018-11-26 125 133