Mauro Callejas-Cuervo | Universidad Pedagógica y Tecnológica de Colombia (UPTC) (original) (raw)

Issue 189 by Mauro Callejas-Cuervo

This paper, presents an inertial and magnetic sensor based technological platform, intended for a... more This paper, presents an inertial and magnetic sensor based technological platform, intended for articular amplitude monitoring and telerehabilitation processes considering an efficient cost/technical considerations compromise. The particularities of our platform offer possibilities of a high social impact by making telerehabilitation accessible to large population sectors in marginal socioeconomic sectors, especially in underdeveloped countries where, in contrast to developed countries, specialists are scarce and high technology is not available or inexistent. This platform integrates high resolution low cost inertial and magnetic sensors with adequate user interfaces and communication protocols to perform a diagnostic service through the web, or other available communication networks. Elbow amplitude information is generated by sensors and then transferred to a computing device with adequate interfaces to make it accessible to inexperienced personnel, providing a high social value at a low cost. Experimental methodology includes two different sets of tests: the first one uses flexion e extension movements on a robotic arm to validate our platform (IMOCAP) articular amplitude measurements , against the robotic positioning system. The second set of tests was carried out on human patients to test IMOCAP in real operational conditions; results were validated with an optical positioning system. This paper presents experimental results showing the platform applicability to telerehabilitation processes.

 Abstract—A tool used to capture biomechanical signals from the upper limb is presented here. Th... more  Abstract—A tool used to capture biomechanical signals from the upper limb is presented here. The methods used for data acquisition, signal fusion and joint amplitude measurements, elbow flexion/extension and pronation/supination, are also presented. To that aim, a device using two inertial and magnetic sensors fixed to the arm and the forearm body segments was implemented. These sensors are wired to a control unit, which process them and sends the information to a display device through a wireless communication protocol. This process can be done in real time, or the results can be stored and managed later. This device was applied to an industrial robot arm, and the results were compared to the actual rotation values. Experiments showed a RMSE of 2.19° in flexion/extension and of 2.75° in pronation/supination. As a conclusion, it can be claimed that the system has an acceptable level of precision to be used as a support tool in rehabilitation processes of people with slight motor damages.

This paper shows the results of a set of experiments aimed t at calibrating and validating an ine... more This paper shows the results of a set of experiments aimed t at calibrating and validating an inertial sensor-based motion capture system that is used to capture and analyze the elbow joint flexion/extension motion. An experimental platform was constructed that provides accurate angular position information for reference purposes. Results obtained have an average error of 2.14 degrees when the arm is guided by a servomotor that rotates at 1 radian per second. The system also has an RMSE of 3.3, 4.9, 6.4 and 7.7 degrees for speeds of 2, 3, 4 and 5 radians per second respectively. Results show that the errors are acceptable to use a kinematic information capture platform en with inertial sensors that is focused on monitoring the recovery of the motor function in the upper limbs through physical therapy.

Integrating emerging technologies has shown to have the potential to improve access to rehabilita... more Integrating emerging technologies has shown to have the potential to improve access to rehabilitation services and the adherence for
physical therapy when they are applied into telemedicine environments. This systematic review aims to explore telerehabilitation systems
that use motion capture and video games for upper-limb rehabilitation purposes. Motion capture was focused on the information fusion
from inertial sensors and other technologies. The search was limited to 2010-2013, from which 667 papers were obtained; afterwards,
duplicate papers were removed, thus, reducing the sample to 57 papers with full text availability. Finally, only 3 of them were selected by
approaching the subject of this study. We conclude that the fusion information from inertial sensors and other motion capture
technologies appears to be a new tendency in remote monitoring of motor rehabilitation process. However, the combination of them with
active video games in physiotherapy programs is only an emerging research area with promising results.

Papers by Mauro Callejas-Cuervo

Sensors, May 24, 2024

This article is an open access article distributed under the terms and conditions of the Creative... more This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY

En este libro se propone un metamodelo basado en las características generales de los procesos de... more En este libro se propone un metamodelo basado en las características generales de los procesos de estimación de esfuerzo y los modelos de calidad y mejora de procesos, de esta forma pretende contribuir en la predicción del esfuerzo al interior de las organizaciones y ayudar a mejorar la planificación de los proyectos software. Se propone una herramienta para fomentar que la organización cuente con procesos definidos para la realización de las actividades orientadas al desarrollo de sus productos de software, para lo cual, es fundamental que éstas cuenten con una política de calidad de mejora de sus procesos.

ABSTRACT This paper presents system architecture for Telephysiotherapy aimed at people with upper... more ABSTRACT This paper presents system architecture for Telephysiotherapy aimed at people with upper limb motor disorders. Furthermore, it was analyzed the state of the art in scientific research related to the provision of physical therapy services through using information technology and communications, and it was explored in literature the methods and tools used for biomechanical motion capture. These technologies enable the integration of electronics, computing and communications for physiotherapy environments. The proposed system has a high social impact, given that this addresses an actual problem in Colombia and other Latin American countries, regarding access to physical rehabilitation programs of disabled people at the motor level that are located in remote areas with difficult access.

World Academy of Science, Engineering and Technology, International Journal of Medical and Health Sciences, Sep 26, 2016

Información tecnológica, 2014

Se presenta el diseño, modelado y simulación del comportamiento de un sistema de transporte públi... more Se presenta el diseño, modelado y simulación del comportamiento de un sistema de transporte público colectivo urbano en ciudades de tamaño mediano, a través de la cuantificación de variables complejas que miden la calidad del servicio prestado. El sistema se modeló usando la técnica "de abajo hacia arriba" (Bottom Up), el cual representa el comportamiento dinámico y estático basado en agentes de software. Además se describen los parámetros de entrada al software de simulación. Se presentan y discuten los resultados usando diferentes escenarios, los que permitieron el análisis de su comportamiento. El trabajo permitió deducir que los agentes de software pueden ser usados en el análisis microscópico de cualquier sistema complejo.

International Journal of Information Technology

The high potential for creating brain-computer interfaces (BCIs) and video games for upper limb r... more The high potential for creating brain-computer interfaces (BCIs) and video games for upper limb rehabilitation has been demonstrated in recent years. In this work, we describe the implementation of a prototype BCI with feedback based on a virtual environment to control the lateral movement of a character by predicting the subject’s motor intention. The electroencephalographic signals were processed employing a Finite Impulse Response (FIR) filter, Common Spatial Patterns (CSP), and Linear Discriminant Analysis (LDA). Also, a video game was used as a virtual environment, which was written in C# on the Unity3D platform. The test results showed that the prototype implemented based on electroencephalographic signal acquisition has the potential to take on real-time applications such as avatar control or assistive devices, obtaining a maximum control time of 65 s. In addition, it was noticed that the feedback in an interface plays a crucial role, since it helps the person not only to fee...

Las diversas técnicas, métodos y tecnologías para la implementación de sistemas de control que pu... more Las diversas técnicas, métodos y tecnologías para la implementación de sistemas de control que pueden ser utilizados en sistemas de movilidad humana, como una silla de ruedas de accionamiento eléctrico o un prototipo de simulación de la misma, se han recolectado y analizado a través de una detallada revisión bibliográfica. A partir de ella, se han encontrado diferentes tipos de técnicas de instrumentación y control, especialmente las que implican movimientos corporales para accionar dispositivos de asistencia. La implementación del sistema de captura de movimiento utilizado en esta investigación permitió que los movimientos de la cabeza ejecutaran acciones de control en siete direcciones: hacia adelante, hacia atrás, hacia la derecha, hacia la izquierda, hacia atrás a la derecha, hacia atrás a la izquierda y la función de parada, para manejar un prototipo de simulación de silla de ruedas mediante una interfaz gráfica. A partir del desarrollo de proyectos de captura de movimiento bio...

Sensors

This paper presents a model that enables the transformation of digital signals generated by an in... more This paper presents a model that enables the transformation of digital signals generated by an inertial and magnetic motion capture system into kinematic information. First, the operation and data generated by the used inertial and magnetic system are described. Subsequently, the five stages of the proposed model are described, concluding with its implementation in a virtual environment to display the kinematic information. Finally, the applied tests are presented to evaluate the performance of the model through the execution of four exercises on the upper limb: flexion and extension of the elbow, and pronation and supination of the forearm. The results show a mean squared error of 3.82° in elbow flexion-extension movements and 3.46° in forearm pronation-supination movements. The results were obtained by comparing the inertial and magnetic system versus an optical motion capture system, allowing for the identification of the usability and functionality of the proposed model.

Sensors

Motion assistance exoskeletons are designed to support the joint movement of people who perform r... more Motion assistance exoskeletons are designed to support the joint movement of people who perform repetitive tasks that cause damage to their health. To guarantee motion accompaniment, the integration between sensors and actuators should ensure a near-zero delay between the signal acquisition and the actuator response. This study presents the integration of a platform based on Imocap-GIS inertial sensors, with a motion assistance exoskeleton that generates joint movement by means of Maxon motors and Harmonic drive reducers, where a near zero-lag is required for the gait accompaniment to be correct. The Imocap-GIS sensors acquire positional data from the user’s lower limbs and send the information through the UDP protocol to the CompactRio system, which constitutes a high-performance controller. These data are processed by the card and subsequently a control signal is sent to the motors that move the exoskeleton joints. Simulations of the proposed controller performance were conducted....

2022 Global Medical Engineering Physics Exchanges/ Pan American Health Care Exchanges (GMEPE/PAHCE)

The management of medical records in physiotherapy requires a specific treatment due to the parti... more The management of medical records in physiotherapy requires a specific treatment due to the particular nature of this discipline. Based on the criteria of the International Classification of Functioning, Disability and Health and the guide of the American Physiotherapy Association, a framework is identified for the management of clinical information of the patient in physiotherapy, and the design and implementation of a web platform is presented, which allows the management of electronic medical records. In addition to the information management by the therapists, the platform called MovGis allows the patient to execute the therapy through the interaction with active video games, and precise quantitative data associated with joint amplitude are simultaneously captured. The reports generated offer organized, structured, quantitative and timely information to support decision-making by professionals in charge of motor rehabilitation processes for patients. It is concluded that the platform is a tool that allows an adequate handling and management of the information of the physical rehabilitation process and that it offers quantitative data for timely decision making.

2022 Global Medical Engineering Physics Exchanges/ Pan American Health Care Exchanges (GMEPE/PAHCE)

The use of soft and flexible materials in rehabilitation support systems based on robotic exoskel... more The use of soft and flexible materials in rehabilitation support systems based on robotic exoskeletons plays a crucial role in ergonomics, reducing weight and complexity. However, the selection of these materials can have mechanical implications that affect the performance of the exoskeleton in the chosen application. This paper proposes a testing protocol to assess the mechanical and structural features of a prototype upper limb robotic exoskeleton using an optical motion capture system as the primary measurement instrument. In addition to the protocol, a literature review is presented, laying the ground for the theoretical development of the mechanical evaluation for prototypes. Also, the materials used concerning the evaluation technologies required for data collection and assessment of the devices are described. The development and future application of this protocol will enable the identification of the relevant motion parameters on the exoskeleton prototype, the changes that its structure may experience due to the use of the flexible materials, and the effectiveness of the mechanical support provided in the upper limb. Finally, the proposed protocol can be extended to other types of robotic exoskeletons built with similar materials, regardless of their final application, extending its applicability to other study cases.

XXVII Brazilian Congress on Biomedical Engineering

International Conference on Smart Technologies, Systems and Applications, Dec 2, 2019

This paper, presents an inertial and magnetic sensor based technological platform, intended for a... more This paper, presents an inertial and magnetic sensor based technological platform, intended for articular amplitude monitoring and telerehabilitation processes considering an efficient cost/technical considerations compromise. The particularities of our platform offer possibilities of a high social impact by making telerehabilitation accessible to large population sectors in marginal socioeconomic sectors, especially in underdeveloped countries where, in contrast to developed countries, specialists are scarce and high technology is not available or inexistent. This platform integrates high resolution low cost inertial and magnetic sensors with adequate user interfaces and communication protocols to perform a diagnostic service through the web, or other available communication networks. Elbow amplitude information is generated by sensors and then transferred to a computing device with adequate interfaces to make it accessible to inexperienced personnel, providing a high social value at a low cost. Experimental methodology includes two different sets of tests: the first one uses flexion e extension movements on a robotic arm to validate our platform (IMOCAP) articular amplitude measurements , against the robotic positioning system. The second set of tests was carried out on human patients to test IMOCAP in real operational conditions; results were validated with an optical positioning system. This paper presents experimental results showing the platform applicability to telerehabilitation processes.

 Abstract—A tool used to capture biomechanical signals from the upper limb is presented here. Th... more  Abstract—A tool used to capture biomechanical signals from the upper limb is presented here. The methods used for data acquisition, signal fusion and joint amplitude measurements, elbow flexion/extension and pronation/supination, are also presented. To that aim, a device using two inertial and magnetic sensors fixed to the arm and the forearm body segments was implemented. These sensors are wired to a control unit, which process them and sends the information to a display device through a wireless communication protocol. This process can be done in real time, or the results can be stored and managed later. This device was applied to an industrial robot arm, and the results were compared to the actual rotation values. Experiments showed a RMSE of 2.19° in flexion/extension and of 2.75° in pronation/supination. As a conclusion, it can be claimed that the system has an acceptable level of precision to be used as a support tool in rehabilitation processes of people with slight motor damages.

This paper shows the results of a set of experiments aimed t at calibrating and validating an ine... more This paper shows the results of a set of experiments aimed t at calibrating and validating an inertial sensor-based motion capture system that is used to capture and analyze the elbow joint flexion/extension motion. An experimental platform was constructed that provides accurate angular position information for reference purposes. Results obtained have an average error of 2.14 degrees when the arm is guided by a servomotor that rotates at 1 radian per second. The system also has an RMSE of 3.3, 4.9, 6.4 and 7.7 degrees for speeds of 2, 3, 4 and 5 radians per second respectively. Results show that the errors are acceptable to use a kinematic information capture platform en with inertial sensors that is focused on monitoring the recovery of the motor function in the upper limbs through physical therapy.

Integrating emerging technologies has shown to have the potential to improve access to rehabilita... more Integrating emerging technologies has shown to have the potential to improve access to rehabilitation services and the adherence for
physical therapy when they are applied into telemedicine environments. This systematic review aims to explore telerehabilitation systems
that use motion capture and video games for upper-limb rehabilitation purposes. Motion capture was focused on the information fusion
from inertial sensors and other technologies. The search was limited to 2010-2013, from which 667 papers were obtained; afterwards,
duplicate papers were removed, thus, reducing the sample to 57 papers with full text availability. Finally, only 3 of them were selected by
approaching the subject of this study. We conclude that the fusion information from inertial sensors and other motion capture
technologies appears to be a new tendency in remote monitoring of motor rehabilitation process. However, the combination of them with
active video games in physiotherapy programs is only an emerging research area with promising results.

Sensors, May 24, 2024

This article is an open access article distributed under the terms and conditions of the Creative... more This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY

En este libro se propone un metamodelo basado en las características generales de los procesos de... more En este libro se propone un metamodelo basado en las características generales de los procesos de estimación de esfuerzo y los modelos de calidad y mejora de procesos, de esta forma pretende contribuir en la predicción del esfuerzo al interior de las organizaciones y ayudar a mejorar la planificación de los proyectos software. Se propone una herramienta para fomentar que la organización cuente con procesos definidos para la realización de las actividades orientadas al desarrollo de sus productos de software, para lo cual, es fundamental que éstas cuenten con una política de calidad de mejora de sus procesos.

ABSTRACT This paper presents system architecture for Telephysiotherapy aimed at people with upper... more ABSTRACT This paper presents system architecture for Telephysiotherapy aimed at people with upper limb motor disorders. Furthermore, it was analyzed the state of the art in scientific research related to the provision of physical therapy services through using information technology and communications, and it was explored in literature the methods and tools used for biomechanical motion capture. These technologies enable the integration of electronics, computing and communications for physiotherapy environments. The proposed system has a high social impact, given that this addresses an actual problem in Colombia and other Latin American countries, regarding access to physical rehabilitation programs of disabled people at the motor level that are located in remote areas with difficult access.

World Academy of Science, Engineering and Technology, International Journal of Medical and Health Sciences, Sep 26, 2016

Información tecnológica, 2014

Se presenta el diseño, modelado y simulación del comportamiento de un sistema de transporte públi... more Se presenta el diseño, modelado y simulación del comportamiento de un sistema de transporte público colectivo urbano en ciudades de tamaño mediano, a través de la cuantificación de variables complejas que miden la calidad del servicio prestado. El sistema se modeló usando la técnica "de abajo hacia arriba" (Bottom Up), el cual representa el comportamiento dinámico y estático basado en agentes de software. Además se describen los parámetros de entrada al software de simulación. Se presentan y discuten los resultados usando diferentes escenarios, los que permitieron el análisis de su comportamiento. El trabajo permitió deducir que los agentes de software pueden ser usados en el análisis microscópico de cualquier sistema complejo.

International Journal of Information Technology

The high potential for creating brain-computer interfaces (BCIs) and video games for upper limb r... more The high potential for creating brain-computer interfaces (BCIs) and video games for upper limb rehabilitation has been demonstrated in recent years. In this work, we describe the implementation of a prototype BCI with feedback based on a virtual environment to control the lateral movement of a character by predicting the subject’s motor intention. The electroencephalographic signals were processed employing a Finite Impulse Response (FIR) filter, Common Spatial Patterns (CSP), and Linear Discriminant Analysis (LDA). Also, a video game was used as a virtual environment, which was written in C# on the Unity3D platform. The test results showed that the prototype implemented based on electroencephalographic signal acquisition has the potential to take on real-time applications such as avatar control or assistive devices, obtaining a maximum control time of 65 s. In addition, it was noticed that the feedback in an interface plays a crucial role, since it helps the person not only to fee...

Las diversas técnicas, métodos y tecnologías para la implementación de sistemas de control que pu... more Las diversas técnicas, métodos y tecnologías para la implementación de sistemas de control que pueden ser utilizados en sistemas de movilidad humana, como una silla de ruedas de accionamiento eléctrico o un prototipo de simulación de la misma, se han recolectado y analizado a través de una detallada revisión bibliográfica. A partir de ella, se han encontrado diferentes tipos de técnicas de instrumentación y control, especialmente las que implican movimientos corporales para accionar dispositivos de asistencia. La implementación del sistema de captura de movimiento utilizado en esta investigación permitió que los movimientos de la cabeza ejecutaran acciones de control en siete direcciones: hacia adelante, hacia atrás, hacia la derecha, hacia la izquierda, hacia atrás a la derecha, hacia atrás a la izquierda y la función de parada, para manejar un prototipo de simulación de silla de ruedas mediante una interfaz gráfica. A partir del desarrollo de proyectos de captura de movimiento bio...

Sensors

This paper presents a model that enables the transformation of digital signals generated by an in... more This paper presents a model that enables the transformation of digital signals generated by an inertial and magnetic motion capture system into kinematic information. First, the operation and data generated by the used inertial and magnetic system are described. Subsequently, the five stages of the proposed model are described, concluding with its implementation in a virtual environment to display the kinematic information. Finally, the applied tests are presented to evaluate the performance of the model through the execution of four exercises on the upper limb: flexion and extension of the elbow, and pronation and supination of the forearm. The results show a mean squared error of 3.82° in elbow flexion-extension movements and 3.46° in forearm pronation-supination movements. The results were obtained by comparing the inertial and magnetic system versus an optical motion capture system, allowing for the identification of the usability and functionality of the proposed model.

Sensors

Motion assistance exoskeletons are designed to support the joint movement of people who perform r... more Motion assistance exoskeletons are designed to support the joint movement of people who perform repetitive tasks that cause damage to their health. To guarantee motion accompaniment, the integration between sensors and actuators should ensure a near-zero delay between the signal acquisition and the actuator response. This study presents the integration of a platform based on Imocap-GIS inertial sensors, with a motion assistance exoskeleton that generates joint movement by means of Maxon motors and Harmonic drive reducers, where a near zero-lag is required for the gait accompaniment to be correct. The Imocap-GIS sensors acquire positional data from the user’s lower limbs and send the information through the UDP protocol to the CompactRio system, which constitutes a high-performance controller. These data are processed by the card and subsequently a control signal is sent to the motors that move the exoskeleton joints. Simulations of the proposed controller performance were conducted....

2022 Global Medical Engineering Physics Exchanges/ Pan American Health Care Exchanges (GMEPE/PAHCE)

The management of medical records in physiotherapy requires a specific treatment due to the parti... more The management of medical records in physiotherapy requires a specific treatment due to the particular nature of this discipline. Based on the criteria of the International Classification of Functioning, Disability and Health and the guide of the American Physiotherapy Association, a framework is identified for the management of clinical information of the patient in physiotherapy, and the design and implementation of a web platform is presented, which allows the management of electronic medical records. In addition to the information management by the therapists, the platform called MovGis allows the patient to execute the therapy through the interaction with active video games, and precise quantitative data associated with joint amplitude are simultaneously captured. The reports generated offer organized, structured, quantitative and timely information to support decision-making by professionals in charge of motor rehabilitation processes for patients. It is concluded that the platform is a tool that allows an adequate handling and management of the information of the physical rehabilitation process and that it offers quantitative data for timely decision making.

2022 Global Medical Engineering Physics Exchanges/ Pan American Health Care Exchanges (GMEPE/PAHCE)

The use of soft and flexible materials in rehabilitation support systems based on robotic exoskel... more The use of soft and flexible materials in rehabilitation support systems based on robotic exoskeletons plays a crucial role in ergonomics, reducing weight and complexity. However, the selection of these materials can have mechanical implications that affect the performance of the exoskeleton in the chosen application. This paper proposes a testing protocol to assess the mechanical and structural features of a prototype upper limb robotic exoskeleton using an optical motion capture system as the primary measurement instrument. In addition to the protocol, a literature review is presented, laying the ground for the theoretical development of the mechanical evaluation for prototypes. Also, the materials used concerning the evaluation technologies required for data collection and assessment of the devices are described. The development and future application of this protocol will enable the identification of the relevant motion parameters on the exoskeleton prototype, the changes that its structure may experience due to the use of the flexible materials, and the effectiveness of the mechanical support provided in the upper limb. Finally, the proposed protocol can be extended to other types of robotic exoskeletons built with similar materials, regardless of their final application, extending its applicability to other study cases.

XXVII Brazilian Congress on Biomedical Engineering

International Conference on Smart Technologies, Systems and Applications, Dec 2, 2019

How to cite Complete issue More information about this article Journal's homepage in redalyc.org ... more How to cite Complete issue More information about this article Journal's homepage in redalyc.org Scientific Information System Network of Scientific Journals from Latin America, the Caribbean, Spain and Portugal Non-profit academic project, developed under the open access initiative

Journal of Human Sport and Exercise - 2021 - Winter Conferences of Sports Science, 2021

Context: The objective of this research was the creation and implementation of a gymnastic progra... more Context: The objective of this research was the creation and implementation of a gymnastic program to improve the level of balance in high school students. Method: A diagnosis was made using the direct observation technique and a pre-test by implementing a motion capture platform for the analysis of balance in order to obtain a quantitative and qualitative assessment of the study group. Subsequently, a basic gymnastics program was formed and implemented for a period of 12 weeks. Finally, the impact of the program was evaluated by means of a post-test using the motion capture platform that allowed obtaining a quantitative data and it was contrasted with the field diary by triangulation technique to verify the progress in the level of balance in the students. Results: The quantitative analysis showed improvement in balance on the three-body axes with an average of +/-5.23°. Furthermore, according to the observations made in the field diaries for each session, they showed that the basic exercises of educational gymnastics, as they were practiced, improved body control. Conclusion: The gymnastic movements practiced within the proposed program caused constant imbalance responses, which originated a positive stimulation in the systems involved in stability improving kinaesthetic awareness, spatial coordination, and postural tonicity in the research group.

In the capture of biomechanical signals, the application of Kalman filters allows a correction of... more In the capture of biomechanical signals, the application of Kalman filters allows a correction ofthe error caused by disturbances or noise in the system.This article presents a comparison of the performance of an Unscented Kalman Filter and an Extended Kalman Filter with the objective of identifying which of the two has a better performance for use in the area of the analysis of human movement.The results of the analysis of the measurement of flexion and extension of the arm, taken with inertial and magnetic sensors, show a Root Mean-Square Error (RMSE)of 2.43o in the Unscented Filter versus a 3.88o in the Extended one. The analysis was done with angular velocities between 1 and 15 rad/s, ideal for biomechanicalapplications.