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Carlos A. Cifuentes

6 accepted papers

2025

Touch-Sensitive Hand Interactions for Social Robots Using Fiber Bragg Grating Sensors

María Gaitán-Padilla, Daniel E. Garcia A., Elizabeth Sánchez R., Maria José Pontes, Marcelo Eduardo Vieira Segatto, Carlos A. Cifuentes +1
IROS 2025

Physical human-robot interaction (pHRI) has been demonstrated to be essential in the implementation of social assistive robots (SARs), which require advanced sensing capabilities for accurate and responsive engagement. This study presents the development and validation of a fiber Bragg grating (FBG)

Cited by 0Source ↗Scholar ↗
2024

Development and Functional Evaluation of The PrHand V3 Soft-Robotics Prosthetic Hand

Orion Ramos, Laura De Arco, Marcela Múnera, Jorge Robledo, Mehran Moazen, Helge Wurdemann +1
IROS 2024poster

The affordability and functionality of hand prosthetics in developing countries are still very limited. This work aims to present and evaluate the new version of the PrHand affordable robotic prosthesis (PrHand V3), built with soft robotics and compliant mechanisms. PrHand V3 implements a new fricti…

Cited by 0Source ↗Scholar ↗
2024

Multimodal Haptic Interface for Walker-Assisted Navigation

Yikun Wang, Sergio D. Sierra M, Nigel Harris, Marcela Múnera, Carlos A. Cifuentes
IROS 2024poster

This study investigates the efficacy of a haptic interface, aiming to offer the walking frame users accurate, intuitive, and easily understandable directional cues. The research introduces a novel haptic feedback interface incorporated into a walking frame to enhance navigation assistance. The hapti…

Cited by 0Source ↗Scholar ↗
2023

Exploring Multimodal Gait Rehabilitation and Assistance through an Adaptable Robotic Platform

Sophia Otálora, Sergio D. Sierra M., Felipe Ballén-Moreno, Marcela Múnera, Carlos A. Cifuentes
ICRA 2023poster

Lower-limb exoskeletons and smart walkers are robotic devices to assist patients in regaining their autonomy after a stroke. The integration of these devices enables gait rehabilitation and functional compensation, promoting natural over-ground walking. This article presents the Adaptable Robotic Pl…

Cited by 1Source ↗Scholar ↗
2023

Haptic Human-Robot Collaboration for Walker-Assisted Navigation Based on Admittance Controllers

Sergio D. Sierra Marín, Mario F. Jiménez, Marcela C. Múnera, Carlos A. Cifuentes, Anselmo Frizera
RA-L 2023

In recent years, advances in robotics and the constant growth of gait-related pathologies led to the development of different assistive devices. Smart walkers provide natural and intuitive strategies for gait assistance, such as path-following and guidance. Although these functionalities usually emp

Cited by 7Source ↗Scholar ↗
2022

The AGoRA V2 Unilateral Lower-Limb Exoskeleton: Mechatronic Integration and Biomechanical Assessment

Sophia Otálora, Felipe Ballén-Moreno, Luis J. Arciniegas Mayag, Marcela C. Múnera, Carlos A. Cifuentes
RA-L 2022

People who suffer from stroke have a higher difficulty performing gait activity, affecting their quality of life. New technologies have been developed to assist and rehabilitate the affected limbs. This paper presents the AGoRA V2 unilateral lower-limb exoskeleton and the assessment of physiological

Cited by 5Source ↗Scholar ↗