Las operaciones pick-and-place son las más frecuentes en aplicaciones robóticas, y muchas veces su diseño incluye la presencia de obstáculos. En este trabajo se presenta la construcción de una plataforma software que permite la manipulación de un robot colaborativo UR3e mediante la generación de trayectorias 3D facilmente definidas por el usuario, además de una de pinza blanda capaz de sujetar objetos con diferentes geometrías. Para ello, se detalla el desarrollo de una interfaz gráfica en Unity, así como la incorporación del gemelo digital del robot UR3e. Del mismo modo, se exponen los diferentes módulos que permiten la comunicación de la plataforma con el manipulador a través de ROS. Los resultados muestran la creación de rutas adaptadas por el usuario ante diferentes casos en zonas de colisión y la disposición de la pinza para sujetar diferentes objetos. También se compara el error deprecisión entre los datos enviados respecto a los que se reciben desde el robot durante el seguimiento de trayectorias definidas por el usuario.

This study investigates the feasibility of using a wearable system with full-wave alternating current (AC) excitation to measure electrodermal activity (EDA). Typically measured using direct current (DC) excitation, EDA is often affected by signal drift due to electrode–skin polarisation. To address this, a portable device was developed that applies fixed-amplitude, full-wave AC signals and records EDA under controlled conditions. The electrical behaviour of the skin was also simulated using a multilayer model to analyse current propagation at different frequencies. The experimental procedure was conducted with ten healthy participants under controlled conditions. Two stages were carried out: the first compared the similarity of the skin conductance level (SCL) between DC and half-wave alternating current (AC) signals; the second analysed signal stability and skin response at full-wave AC excitation. Compared to DC, full-wave AC excitation demonstrated reduced signal drift, greater temporal stability, and enhanced measurement of the skin’s capacitive response. These findings support the adoption of AC excitation for EDA measurement, especially in ambulatory and real-time biomechanical applications where signal reliability and stability are essential.

Postural stability relies on the effective interaction between sensory feedback integration and muscle modulation. This study investigates the dynamics of muscle networks generated during challenging postures and examines the impact of visual feedback deprivation on balance. The postural conditions included three tasks selected from the Berg Balance Scale: standing feet apart, standing feet together, and tandem stance. Additionally, these postures were performed with both open and closed eyes. Electromyographic (EMG) signals were collected bilaterally from six leg and hip muscles. Intermuscular coherence (IMC) was calculated across the twelve muscles within the beta frequency band to identify the muscle networks activated under different postural conditions. The findings revealed a decrease in the number of connections across the sequence of postures, alongside the strengthening of specific muscle connections unique to each individual. These shared patterns and individualized muscle networks may reflect adaptive strategies employed to maintain stability during challenging postural tasks.

La enfermedad arterial periférica (EAP) se caracteriza por la obstrucción de las arterias de las piernas y los pies debido a la acumulación de grasa. La neuropatía periférica (NP) afecta a la función de los nervios, incluidos los responsables de regular la sudoración y la humedad de los pies. Estos problemas aumentan significativamente el riesgo de úlceras y heridas en las extremidades. Este artículo presenta una metodología de análisis de la presión plantar con el equipo F-Scan64 para identificar puntos críticos durante las actividades diarias. El objetivo es diseñar plantillas personalizadas que monitoricen estos puntos y reduzcan el riesgo de lesiones en pacientes con estas afecciones. Los resultados se discuten en relación con estudios previos sobre los umbrales de riesgo que deben evitarse en estos casos. Además, se ofrece una perspectiva sobre la distribución sensorial de las plantillas personalizadas.

Tissue-mimicking materials are fundamental tools for calibration, validation, and training in ultrasound techniques, as they allow controlled experimental conditions comparable to biological tissues to be reproduced. In this work, polyvinyl alcohol (PVA) cryogels were fabricated with different concentrations of propylene glycol, incorporated as an additive through partial substitution of demineralized water, with the aim of adjusting their acoustic response. The samples were obtained by physical gelation through freeze--thaw cycles and were characterized in immersion, at 36.5 ºC, using ultrasound transducers. From the analysis of time-of-flight measurements, the longitudinal speed of sound was determined for each formulation. The results showed mean velocities ranging from 1578.5 to 1615.7 m/s after the fifth cycle, values compatible with those reported for various soft tissues. These findings constitute preliminary results for the selection of formulations and guide the development of new PVA--propylene glycol compositions with tunable acoustic properties for ultrasound-based biomedical applications.