Javier Corral

Prof. Dr. Javier Corral

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Research Focus & Metrics

Academic Career Length

18Years (2009-Present)

(Calculated once Scilit publication data is synced: current year − year of first publication + 1)

Representative Publications

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24 September 2009 in Robotica
Verified
Journal Article
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CPCharles Pinto
Charles Pinto
Javier CorralJavier Corral
Javier Corral
OAOscar Altuzarra
Oscar Altuzarra
AHAlfonso Hernández
Alfonso Hernández
SUMMARY: In this paper a general methodology for obtaining static stiffness maps in lower mobility parallel manipulators is proposed. The main objective is to define a set of guidelines, which allow the experimental work to be optimized and computational time to be reduced. First, a two-degree-of-freedom (DOF) mechanism will be used for methodology validation, since it is the stiffness of the basic kinematic chain of the manipulator that is to be analysed. Two mathematical models of this mechanism and an experimental prototype will be considered for the validation. After that, the methodology will be applied to a lower mobility (4-DOF) parallel manipulator. In this paper, the experimental prototype and its set-up is highly important because some particular features of the experimental analysis will be defined. This paper introduces a key experimental tool: the preload, which allows the clearances and possible assembling errors to be considered. The added value from the application of this procedure is the obtaining of graphs that describe, in an intuitive and useful way, the behaviour of the manipulator's stiffness inside its workspace as a function of the mobile platform position and orientation.

14 May 2024 in Applied Sciences
Verified
Journal Article
Open access
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PDPaul Diego
Paul Diego
SVSaioa Herrero Villalibre
Saioa Herrero Villalibre
EMErik Macho
Erik Macho
Javier CorralJavier Corral
Javier Corral
MDMikel Diez
Mikel Diez
CPCharles Pinto
Charles Pinto
Gait and balance have a direct impact on patients’ independence and quality of life. Due to a higher life expectancy, the number of patients suffering neurological disorders has increased exponentially, with gait and balance impairments being the main side effects. In this context, the use of rehabilitation robotic devices arises as an effective and complementary tool to recover gait and balance functions. Among rehabilitation devices, end effectors present some advantages and have shown encouraging outcomes. The objective of this study is twofold: to propose a general classification of devices for gait and balance rehabilitation and to provide a review of the existing end effectors for such purposes. We classified the devices into five groups: treadmills, exoskeletons, patient-guided systems, perturbation platforms, and end effectors. Overall, 55 end effectors were identified in the literature, of which 16 were commercialized. We found a disproportionate number of end effectors capable of providing both types of rehabilitation (2/55) and those focused on either balance (21/55) or gait (32/55). The analysis of their features from a mechanical standpoint (degrees of freedom, topology, and training mode) allowed us to identify the potential of parallel manipulators as driving mechanisms of end effector devices and to suggest several future research directions.

21 April 2025 in Biocybernetics and Biomedical Engineering
Verified
Journal Article
Open access
RMRuben Valenzuela Montes
Ruben Valenzuela Montes
Javier CorralJavier Corral
Javier Corral
MDMikel Diez
Mikel Diez
TPThomas Provot
Thomas Provot
FCFrancisco J. Campa
Francisco J. Campa
CPCharles Pinto
Charles Pinto

25 November 2024 in Mechatronics
Verified
Journal Article
Open access
FCFrancisco J. Campa
Francisco J. Campa
MDMikel Diez
Mikel Diez
Javier CorralJavier Corral
Javier Corral
EMErik Macho
Erik Macho
SVSaioa Herrero Villalibre
Saioa Herrero Villalibre
CPCharles Pinto
Charles Pinto

31 January 2019 in Robotica
Verified
Journal Article
Closed access
PDF file
SVSaioa Herrero Villalibre
Saioa Herrero Villalibre
CPCharles Pinto
Charles Pinto
MDMikel Diez
Mikel Diez
Javier CorralJavier Corral
Javier Corral
Parallel manipulators, especially those with outputs as one translation and two rotations (1T2R), are being increasingly studied. The kinematic chains of parallel manipulators share the loads and make the stiffness higher than the stiffness of serial manipulators with equivalent limbs. This high stiffness ensures a minimal deformation of the limbs, allowing a high positioning accuracy of the endeffector. Thus, it is very important to be able to measure the stiffness in parallel manipulators. In this work, we present a novel 1T2R multi-axial shaking table (MAST) for automobile pieces testing purposes—the 2PRU–1PRS parallel manipulator—and focus on the analysis of its stiffness all over the useful workspace. Analysis methods based on matrix structural method need to be validated for every parallel manipulator, and we present these steps along with a comparison between experimental and analytical methods.

17 October 2024 in Applied Sciences
Verified
Journal Article
Open access
PDF file
PDPaul Diego
Paul Diego
EMErik Macho
Erik Macho
SVSaioa Herrero Villalibre
Saioa Herrero Villalibre
FCFrancisco J. Campa
Francisco J. Campa
MDMikel Diez
Mikel Diez
CPCharles Pinto
Charles Pinto
This paper presents a novel parallel manipulator capable of generating two translations (2T), inside a vertical plane, and two rotations (2R), about horizontal axes, which are required in aerospace, manufacturing and rehabilitation fields. These four degrees of freedom are reached by means of a unique RRU and three RSS kinematic chains connected to a rhomboid-shaped mobile platform. The kinematic analysis of the new manipulator is provided, which includes the resolution of the inverse position problem and the velocity equations relating to input and output variables. Additionally, a methodology is proposed for obtaining the workspace free of singularities, collisions and kinematic joint range limitation. This systematic methodology allows designers to identify the critical factors affecting the workspace and, thus, to rearrange the mechanical design accordingly for optimum path planning. We represent the workspace using its two-dimensional subspaces (i.e., translational and rotational workspace). The results are analyzed for different working modes of the manipulator to see its potential use in applications wherein 2T2R motion is necessary.