Publications by authors named "Blas M Vinagre"

This work presents an identification procedure of flexural behavior of toenail plates in twenty subjects with no history of feet or nail injury as of in-vivo measurements. In particular, four different mechanical models are considered to describe such properties, ranging from the pure elastic to viscoelastic behavior, the latter from the classical and fractional points of view. The quality of the adjustment of each model is examined by a group of performance indices.

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The control of robots that interact with the environment is an open area of research. Two applications that benefit from this study are: the control of the force exerted by a robot on an object, which allows the robot to perform complex tasks like assembly operations, and the control of collisions, which allows the robot safely collaborate with humans. Robot control is difficult in these cases because: (1) bouncing between free and constrained motion appears that may cause instability, (2) switching between free motion (position) controller and constrained motion (force) controller is required being the switching instants difficult to know and (3) robot control must be robust since the mechanical impedance of the environment is unknown.

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