Browsing by Author "Machado, D."
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- Powered smart textile-based exoskeleton for human support movementPublication . Ferreira, C.; Fertuzinhos, A.; Silva, R.; Ramalho, M.; Vale, B.; Silva, J.; Costa, L.; Oliveira, C.; Ramôa, A.; Aguiar, F.; Pilastri, A.; Matta, A.; Dias, P.; Sampaio, R.; Machado, D.; Costa, M.; Roças, A.; Madureira, P.; Moreira, Juliana; Pereira, J. R.; Pereira, C.; Pereira, F. B.Industrial environments require people’s physical efforts related to excessive force, poor posture, and repetitive tasks that increase the risk of developing musculoskeletal diseases. Due to the high prevalence of postural complaints and consequent global health burdens, a significant demand has been conducted to build and implement powered lower and upper limb devices for human enhancement, considering the working layout/position, anthropometric and ergonomic data to generate valuable information for posture correction guidance.
- Towards Human-like Bimanual Movements in Anthropomorphic Robots: A Nonlinear Optimization ApproachPublication . Silva, Eliana Costa e; Costa, M. F.; Araujo, J. P.; Machado, D.; Louro, L.; Erlhagen, W.; Bicho, EstelaPreviously we have presented a model for generating human-like arm and hand movements on an unimanual anthropomorphic robot involved in human-robot collaboration tasks. The present paper aims to extend our model in order to address the generation of human-like bimanual movement sequences which are challenged by scenarios cluttered with obstacles. Movement planning involves large scale nonlinear constrained optimization problems which are solved using the IPOPT solver. Simulation studies show that the model generates feasible and realistic hand trajectories for action sequences involving the two hands. The computational costs involved in the planning allow for real-time human robot-interaction. A qualitative analysis reveals that the movements of the robot exhibit basic characteristics of human movements.