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  • 1
    In: Applied Sciences, MDPI AG, Vol. 11, No. 19 ( 2021-10-04), p. 9245-
    Abstract: Many exoskeletons in scientific communications and patents only reach a technology readiness level corresponding to an experimental physical model (EPM) or a low-fidelity prototype. While only operational in a laboratory environment, the increasing technology readiness level (TRL) in exoskeletons is not widely studied. This work presents a study to reach this aim based on a new methodology that includes two phases, eleven steps, and four case studies from EPM (TRL3) of ERMIS up to TRL 5 of ERMIS. The results of this article show the increase in TRL based on the analysis of the operational parameters of the ERMIS exoskeleton. The validation of the passive rehabilitation movements was made by characterizing the points of their trajectories assisted by an anthropomorphic mechanism used to measure the end-effector position of ERMIS by means of the acquisition of data, obtaining an error of 20 mm. In conclusion, the real performance parameters are detailed, explaining their causes according to the behavior of the exoskeleton in a real environment operating the four case studies. It presents the group of parameters that reach the TRL 5, which were validated in Computer-Aided Design (CAD) software.
    Type of Medium: Online Resource
    ISSN: 2076-3417
    Language: English
    Publisher: MDPI AG
    Publication Date: 2021
    detail.hit.zdb_id: 2704225-X
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  • 2
    Online Resource
    Online Resource
    Universidad Nacional de Colombia ; 2015
    In:  Ingeniería e Investigación Vol. 35, No. 3 ( 2015-12-14), p. 107-114
    In: Ingeniería e Investigación, Universidad Nacional de Colombia, Vol. 35, No. 3 ( 2015-12-14), p. 107-114
    Abstract: This article presents a methodology to teach students to develop mechatronic projects. It was taught in higher education schools, in different universities in Mexico, in courses such as: Robotics, Control Systems, Mechatronic Systems, Artificial Intelligence, etc. The intention of this methodology is not only to achieve the integration of different subjects but also to accomplish synergy between them so that the final result may be the best possible in quality, time and robustness. Since its introduction into the educational area, this methodology was evaluated and modified for approximately five years, were substantial characteristics were adopted. For the next ten years, only minor alterations were carried out. Fifteen years of experience have proven that the methodology is useful not only for training but also for real projects. In this article, we first explain the methodology and its main characteristics, as well as a brief history of its teaching in different educational programs. Then, we present two cases were the methodology was successfully applied. The first project consisted in the design, construction and evaluation of a mobile robotic manipulator which aims to be used as an explosives ordnance device. In the second case, we document the results of a project assignment for robotics tasks carried out by students which were formerly taught with the methodology.
    Type of Medium: Online Resource
    ISSN: 2248-8723 , 0120-5609
    Language: Unknown
    Publisher: Universidad Nacional de Colombia
    Publication Date: 2015
    detail.hit.zdb_id: 2430967-9
    SSG: 7,36
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  • 3
    Online Resource
    Online Resource
    SAGE Publications ; 2021
    In:  Science Progress Vol. 104, No. 2 ( 2021-04), p. 003685042110169-
    In: Science Progress, SAGE Publications, Vol. 104, No. 2 ( 2021-04), p. 003685042110169-
    Abstract: As a parameter important ballistic, the research about polygonal and grooved barrels’ behavior has not been widely carried out. The pressures, velocities, stresses, deformations, and strains generated by the firing of 9 mm × 19 mm ammunition in weapons with polygonal barrels are analyzed numerically and experimentally, compared with those generated in pistols with grooved barrels. The Finite Element Method with equal boundary and loading conditions was used in both types of guns, specifying the actual materials of the projectile and the barrels. Subsequently, experimental tests were carried out on various weapons with 9 mm ammunitions of 115, 122, and 124 gr. The results show that the 9 mm bullet fired in a polygonal barrel undergoes a maximum deformation towards its exterior of 0.178 mm and interior of 0.158 mm, with stress up to 295.85 MPa. Compared with 0.025 mm maximum external deformation and 0.112 mm internal deformation of 9 mm projectiles fired in a grooved barrel, with stress up to 269.79 MPa. The deformation in the polygonal barrel is in a greater area, but the rifling impression left is less deep, making its identification more difficult. Although there are differences in the stresses and strains obtained, similar velocity and pressure parameters are achieved in the two types of barrels. This has application in the development and standardization of new kinds of barrels and weapons.
    Type of Medium: Online Resource
    ISSN: 0036-8504 , 2047-7163
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2021
    detail.hit.zdb_id: 2483680-1
    detail.hit.zdb_id: 2199376-2
    SSG: 11
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  • 4
    Online Resource
    Online Resource
    SAGE Publications ; 2010
    In:  International Journal of Advanced Robotic Systems Vol. 7, No. 4 ( 2010-12-01), p. 27-
    In: International Journal of Advanced Robotic Systems, SAGE Publications, Vol. 7, No. 4 ( 2010-12-01), p. 27-
    Abstract: In the field of modeling and simulation of mechatronics designs of high complexity, is presented a systematic analysis of an IEDD unit [1] (improvised explosive device disposal) based in a new methodology for modeling and simulation divided into 6 stages in order to increase the accuracy of validation of whole system, this mechatronic unit is a Non-holonomic Unmanned wheeled mobile manipulator, MU-NH-WMM, formed by a Differential Traction and a manipulator arm with 4 degrees of freedom mounted on wheeled mobile base, hence the contribution of this work is a novel methodology based on a practice proposal of philosophy of mechatronics design, which establishes the suitable kinematics to coupled wheeled mobile manipulator, where the motion equations and kinematics transformations are the base of the specific stages in order to obtain the dynamic of coupled system, validating the behavior and the trajectories tracking, in order to achieve the complex tasks of approaching to work area and the appropiatehandling of explosive device, this work is focused in the first of them; such that the errors in the model can be detected and later confined by proposed con trol.
    Type of Medium: Online Resource
    ISSN: 1729-8814 , 1729-8814
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2010
    detail.hit.zdb_id: 2202393-8
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  • 5
    In: Applied Sciences, MDPI AG, Vol. 11, No. 12 ( 2021-06-17), p. 5591-
    Abstract: There are different alternatives when selecting removable prostheses for below the knee amputated patients. The designs of these prostheses vary according to their different functions. These prostheses designs can be classified into Energy Storing and Return (ESAR), Controlled Energy Storing and Return (CESR), active, and hybrid. This paper aims to identify the state of the art related to the design of these prostheses of which ESAR prostheses are grouped into five types, and active and CESR are categorized into four groups. Regarding patent analysis, 324 were analyzed over the last six years. For scientific communications, a bibliometric analysis was performed using 104 scientific reports from the Web of Science in the same period. The results show a tendency of ESAR prostheses designs for patents (68%) and active prostheses designs for scientific documentation (40%).
    Type of Medium: Online Resource
    ISSN: 2076-3417
    Language: English
    Publisher: MDPI AG
    Publication Date: 2021
    detail.hit.zdb_id: 2704225-X
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  • 6
    Online Resource
    Online Resource
    SAGE Publications ; 2012
    In:  International Journal of Advanced Robotic Systems Vol. 9, No. 5 ( 2012-11-01), p. 192-
    In: International Journal of Advanced Robotic Systems, SAGE Publications, Vol. 9, No. 5 ( 2012-11-01), p. 192-
    Abstract: This paper describes an experimental study of a novel methodology for the positioning of a multi-articulated wheeled mobile manipulator with 12 degrees of freedom used for handling tasks with explosive devices. The approach is based on an extension of a homogenous transformation graph (HTG), which is adapted to be used in the kinematic modelling of manipulators as well as mobile manipulators. The positioning of a mobile manipulator is desirable when: ( 1 ) the manipulation task requires the orientation of the whole system towards the objective; ( 2 ) the tracking trajectories are performed upon approaching the explosive device's location on the horizontal and inclined planes; ( 3 ) the application requires the manipulation of the explosive device; ( 4 ) the system requires the extension of its vertical scope; and ( 5 ) the system is required to climb stairs using its front arms. All of the aforementioned desirable features are analysed using the HTG, which establishes the appropriate transformations and interaction parameters of the coupled system. The methodology is tested with simulations and real experiments of the system where the error RMS average of the positioning task is 7. 91 mm, which is an acceptable parameter for performance of the mobile manipulator.
    Type of Medium: Online Resource
    ISSN: 1729-8814 , 1729-8814
    Language: English
    Publisher: SAGE Publications
    Publication Date: 2012
    detail.hit.zdb_id: 2202393-8
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  • 7
    In: Applied Sciences, MDPI AG, Vol. 11, No. 21 ( 2021-10-26), p. 9990-
    Abstract: There are different devices to increase the strength capacity of people with walking problems. These devices can be classified into exoskeletons, orthotics, and braces. This review aims to identify the state of the art in the design of these medical devices, based on an analysis of patents and literature. However, there are some difficulties in processing the records due to the lack of filters and standardization in the names, generating discrepancies between the search engines, among others. Concerning the patents, 74 patents were analyzed using search engines such as Google Patents, Derwent, The Lens, Patentscope, and Espacenet over the past ten years. A bibliometric analysis was performed using 63 scientific reports from Web of Science and The Lens in the same period for scientific communications. The results show a trend to use the mechanical design of exoskeletons based on articulated rigid structures and elements that provide force to move the structure. These are generally two types: (a) elastic elements and (b) electromechanical elements. The United States accounts for 32% of the technological patents reviewed. The results suggest that the use of exoskeletons or orthoses customized to the users’ needs will continue to increase over the years due to the worldwide growth in disability, particularly related to mobility difficulties and technologies related to the combined use of springs and actuators.
    Type of Medium: Online Resource
    ISSN: 2076-3417
    Language: English
    Publisher: MDPI AG
    Publication Date: 2021
    detail.hit.zdb_id: 2704225-X
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  • 8
    In: Machines, MDPI AG, Vol. 10, No. 10 ( 2022-09-28), p. 871-
    Abstract: This paper addresses the design, fabrication and control of Fabric Inflatable Soft Actuators (FISAs) for driving Soft Wearable Devices (SWD) for rehabilitation or assistance tasks. FISAs are integrated by a set of pneumatic chambers made of 200D TPU-nylon that create bending-extending motions using a modular assembly that allow FISAs to adapt them to any size of limb or easily replace them. Regarding FISAs fabrication, a self-hand manufacturing approach has been used for cutting, sewing, and joining them. Additionally, to evaluate FISAs operation, a Soft Exo-Sleeve called MOSAR system was manufactured to achieve elbow motion. To control their inflation-deflation process in real-time, proportional and solenoid valves have been implemented along with a Proportional-Derivative (PD) control strategy that has been embedded in the NUCLEO-STM32F767ZI™ board with rapid control prototyping. Preliminary experiments about FISA performance on the MOSAR system were carried out to measure the inflation-deflation time, Range of Motion (ROM), and output force when elbow flexion-extension occurred in a dummy limb. The results have demonstrated FISAs functionality above the exosuit since they were able to lift 1 kg with flexion of 130° in 5 s using 50 psi. Therefore, FISAs represent a feasible choice for semicircular motions in other joints such as the wrist, hand, or knee, no matter age, limb, or size, only the number of FISAs must be adjusted on the MOSAR system.
    Type of Medium: Online Resource
    ISSN: 2075-1702
    Language: English
    Publisher: MDPI AG
    Publication Date: 2022
    detail.hit.zdb_id: 2704328-9
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  • 9
    In: Nature, Springer Science and Business Media LLC, Vol. 615, No. 7954 ( 2023-03-30), p. 874-883
    Abstract: Optimal growth and development in childhood and adolescence is crucial for lifelong health and well-being 1–6 . Here we used data from 2,325 population-based studies, with measurements of height and weight from 71 million participants, to report the height and body-mass index (BMI) of children and adolescents aged 5–19 years on the basis of rural and urban place of residence in 200 countries and territories from 1990 to 2020. In 1990, children and adolescents residing in cities were taller than their rural counterparts in all but a few high-income countries. By 2020, the urban height advantage became smaller in most countries, and in many high-income western countries it reversed into a small urban-based disadvantage. The exception was for boys in most countries in sub-Saharan Africa and in some countries in Oceania, south Asia and the region of central Asia, Middle East and north Africa. In these countries, successive cohorts of boys from rural places either did not gain height or possibly became shorter, and hence fell further behind their urban peers. The difference between the age-standardized mean BMI of children in urban and rural areas was 〈 1.1 kg m –2 in the vast majority of countries. Within this small range, BMI increased slightly more in cities than in rural areas, except in south Asia, sub-Saharan Africa and some countries in central and eastern Europe. Our results show that in much of the world, the growth and developmental advantages of living in cities have diminished in the twenty-first century, whereas in much of sub-Saharan Africa they have amplified.
    Type of Medium: Online Resource
    ISSN: 0028-0836 , 1476-4687
    RVK:
    RVK:
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    Language: English
    Publisher: Springer Science and Business Media LLC
    Publication Date: 2023
    detail.hit.zdb_id: 120714-3
    detail.hit.zdb_id: 1413423-8
    SSG: 11
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  • 10
    In: eLife, eLife Sciences Publications, Ltd, Vol. 10 ( 2021-03-09)
    Abstract: From 1985 to 2016, the prevalence of underweight decreased, and that of obesity and severe obesity increased, in most regions, with significant variation in the magnitude of these changes across regions. We investigated how much change in mean body mass index (BMI) explains changes in the prevalence of underweight, obesity, and severe obesity in different regions using data from 2896 population-based studies with 187 million participants. Changes in the prevalence of underweight and total obesity, and to a lesser extent severe obesity, are largely driven by shifts in the distribution of BMI, with smaller contributions from changes in the shape of the distribution. In East and Southeast Asia and sub-Saharan Africa, the underweight tail of the BMI distribution was left behind as the distribution shifted. There is a need for policies that address all forms of malnutrition by making healthy foods accessible and affordable, while restricting unhealthy foods through fiscal and regulatory restrictions.
    Type of Medium: Online Resource
    ISSN: 2050-084X
    Language: English
    Publisher: eLife Sciences Publications, Ltd
    Publication Date: 2021
    detail.hit.zdb_id: 2687154-3
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