Javier Escalada San Martín

Mechanisms for haptic torque feedback

This paper presents a state of the art in torque and force/torque feedback mechanisms, from 1-dof rotary knobs to redundant 10-dof mechanisms. This preliminary study, together with our recent attainments in haptics and virtual reality, draws future lines of work for our research.

High-Performance Linear Cable Transmission

Cable transmissions offer several advantages such as high stiffness to weight ratio, high strength, low friction, and absence of backlash, which makes them appropriate for demanding mechanical applications. However, while extensively used as rotational transmissions, there are only a few examples of linear cable transmissions in the literature. The reason is that the up-to-date designs are based on a cable layout that leads to cable length changes during movement. This, in turn, produces negative effects such as transmission nonlinearity and cable fatigue. In this paper, an alternative design for linear cable transmissions is presented. The new design overcomes the aforementioned problems through a proper cable layout. Different applications of the new transmission are reported, validating the proposed design.

Large Workspace Haptic Devices for Human-Scale Interaction: A Survey

One aim of haptic interfaces is to enhance the users immersion in a virtual environment through the stimulation of the haptic sense. Some applications demand a large-volume workspace to allow human-scale interaction. Different design approaches aimed at addressing this issue, such as specific non redundant devices, redundant robots, mobile or wearable haptic interfaces and tensed cable architectures are reviewed and compared in this paper, concluding with some guidelines for their applicability.

Documento de posicionamiento: evaluación y manejo de la hipoglucemia en el paciente concon diabetes mellitus. Grupo de Trabajo de Diabetes Mellitus de la Sociedad Española de Endocrinología y Nutrición

OBJECTIVE To provide practical recommendations for evaluation and management of hypoglycemia in patients with diabetes mellitus. PARTICIPANTS Members of the Diabetes Mellitus Working Group of the Spanish Society of Endocrinology and Nutrition. METHODS Recommendations were formulated according to the Grading of Recommendations, Assessment, Development, and Evaluation system to describe both the strength of recommendations and the quality of evidence. A systematic search was made in MEDLINE (PubMed). Papers in English and Spanish with publication date before 15 February 2013 were included. For recommendations about drugs only those approved by the European Medicines Agency were included. After formulation of recommendations, they were discussed by the Working Group. CONCLUSIONS The document provides evidence-based practical recommendations for evaluation and management of hypoglycemia in patients with diabetes mellitus.

Haptic Wrists: An Alternative Design Strategy Based on User Perception

A new three degree-of-freedom (3DOF) torque feedback wrist is being developed to be added to an existing 3DOF force feedback haptic device. It is difficult to find a satisfactory solution to the mechanical design problem, mainly because of the required large rotational workspace and severe weight constraints. This work proposes an alternative design strategy based on user perception, which allows simplification of the mechanics. The proposed approach consists of substituting the last rotational DOF of the wrist with a pseudohaptic DOF. Thanks to specially designed visuotactile cues, the pseudohaptic DOF is integrated with the active DOF into the same device, being able to generate free motion and collision detection perception to the user. This approach provides for simpler kinematics, lightweight designs, lower inertias, and less friction, which are key advantages for the inclusion of torque feedback into force feedback devices.

Evaluation of sensory substitution to simplify the mechanical design of a haptic wrist

The design of a new 3 degrees-of-freedom (DOF) haptic wrist for our 3-DOF force feedback haptic device is presenting a great design challenge. Demanding target specifications make it difficult to find a satisfactory mechanical design solution. This paper studies whether sensory substitution can lead to the possibility of simplifying the mechanics while preserving haptic performance. The proposed approach consists of substituting the haptic actuation of one of the 3 rotational DOF by specially designed visual or auditory cues. We have carried out a user study where participants are asked to perform an accessibility task with the aid of different sensorial stimuli. The results of these experiments show that the performance obtained by visual or auditory substitution can be satisfactory for accomplishing specific tasks, although it does not meet the performance obtained with a full haptic wrist.

Consenso sobre tratamiento con insulina en la diabetes tipo 2

a Unidad de Endocrinología y Nutrición, Servicio de Endocrinología y Nutrición, Hospital Arnau de Vilanova, Valencia, España b Departamento de Endocrinología y Nutrición, Clínica Universidad de Navarra, Pamplona, Navarra, España c Centro de Investigación Biomédica en Red-Fisiopatología de la Obesidad y Nutrición (CIBERobn), Instituto de Salud Carlos III, Madrid, España d Centro de Atención Primaria La Mina, Gerència d’Àmbit d’Atenció Primària Barcelona Ciutat, Institut Català de la Salut, Sant Adrià de Besòs, Barcelona, España e Grupo DAP-Cat, Unitat de Suport a la Recerca Barcelona Ciutat, Institut Universitari d’Investigació en Atenció Primària Jordi Gol (IDIAP Jordi Gol), Barcelona, España f Centro de Investigación Biomédica en Red de Diabetes y Enfermedades Metabólicas Asociadas (CIBERdem), Instituto de Salud Carlos III, Madrid, España g Unidad de Endocrinología y Nutrición, Hospital General de Segovia, Segovia, España h Medicina Familiar y Comunitaria, Centro de Salud José Marvá, Madrid, España i Red de Grupos de Estudio de la Diabetes en Atención Primaria de la Salud (RedGDPS), España j Servicio Endocrinología y Nutrición, Hospital Virgen de la Victoria, Málaga, España k Servicio de Endocrinologiá y Nutrición, Hospital Vithas-Xanit, Benalmádena, Málaga, España l Medicina Familiar y Comunitaria, Centro de Salud de Pozoblanco, Pozoblanco, Córdoba, España m Medicina Familiar y Comunitaria, Centro de Salud Ribera del Órbigo, Benavides de Órbigo, León, España n Sociedad Española de Diabetes y Sociedad Española de Medicina Familiar y Comunitaria o Unidad de Endocrinología y Nutrición, Consorcio Hospital General Universitario de Valencia, Valencia, España p Medicina Familiar y Comunitaria, Centro de Salud de Zumaia-Gipuzkoa, Zumaya, Guipúzcoa, España q Servicio de Endocrinología y Nutrición, Hospital Clínico San Cecilio, Universidad de Granada, Granada, España r Grupo Berbés de Investigación y Docencia s Grupo de Diabetes de SEFAC t Fundación Pharmaceutical Care

Impacto de la cirugía bariátrica en el tejido óseo

The important prevalence and morbidity of obesity has generated an increase in bariatric surgery. It has a positive effect in obesity-related comorbidities. However, its detrimental to bone health. The underline pathophysiological mechanisms are complex and heterogeneous. The knowledge of these factors may lead us to develop an adequate therapeutic intervention.

The stiff shoulder in diabetic patients

Shoulder stiffness is associated with diabetes mellitus. It is characterized by pain and restriction of active and passive range of motion. Like other complications of diabetes (e.g., arterial stiffness, pancreatic or renal fibrosis), shoulder stiffness is due to a fibrotic process. The clinical course is generally benign, but it can last for months, with remaining disabilities in the long term. Several possibilities of treatment are being used. The practitioner should be aware of this complication, its natural history, and the current treatments available in order to adequately tailor the best treatment to the patient, sometimes combining more than one option.