Research

We explore novel ideas for the ambulatory measurement of human activity

Human-Robot motion coordination: the real-time ambulatory measurement of human behavior opens new ways to generate harmonious human-centered robot motion, from gross motor movement to motor planning.

Last publications: J07, P13

Kinematics estimation methods: multisensor systems (optimized arrangements of sensors) let us to improve robustness, fault-tolerance and auto-configuration properties, essential for the ambulatory measurement of motion.

Last publications: J11, J09,

Motion prediction and anticipation: prediction is a step forward from just motion measurement, which allow us to solve problems that demand a tight action coupling -e.g. working in close proximity- between humans and machines.

Last publications: J12

Publications

Ordered by date. Preprints in electronic form are available when indicated. Final published versions may have modifications, and new or improved figures, not included here. Users of this files should not violate the copyrights of the publishers. In memoriam of Aaron Swartz.

Refereed Journals Publications

J12) Antonio M. López, Juan C. Alvarez, Diego Alvarez. “Walking Turn Prediction from Upper Body Kinematics: A Systematic Review with Implications for Human-Robot Interaction,” Applied Sciences, vol. 9, no. 3, 2019. https://doi.org/10.3390/app9030361

J11) Juan C. Alvarez, Diego Alvarez, Antonio M. López. Accelerometry-Based Distance Estimation for Ambulatory Human Motion Analysis, Sensors 2018, 18(12), 4441; https://doi.org/10.3390/s18124441

J10) M. R. Garcia, D. A. Mantaras, J. C. Alvarez, and D. Blanco F, “Stabilizing an Urban Semi-Autonomous Bicycle,” IEEE Access, vol. 6, pp. 5236–5246, Feb. 2018.

J09) Diego Alvarez, Juan C. Alvarez, Antonio M. López, R. C. González. Upper limb joint angles measurement in occupational health, Computer Methods in Biomechanics and Biomedical Engineering, Ene. 2015 (pdf).

J08) Antonio M. López, Diego Alvarez, Juan C. Alvarez, R. C. González. Slope estimation during normal walking using a shank-mounted inertial sensor, Sensors 2012, 12 no. 9: 11910-11921.

J07) Juan C. Alvarez, Antonio M. López, R. C. González,Diego Alvarez. Pedestrian Navigation Based on a Waist-Worn Inertial Sensor. Sensors 2012, 12 no. 8: 10536-10549.

J06) R. C. González, Antonio M. López, Javier Rodriguez-Uria, Juan C. Alvarez, Diego Alvarez. Real-time gait event detection for normal subjects from lower trunk accelerations. Gait & Posture, Vol. 31, Num. 3, Marzo 2010.

J05) R. C. González, Diego Alvarez, Antonio M. López, Juan C. Alvarez. Ambulatory estimation of mean step length during unconstrained walking by means of COG accelerometry. Computer Methods in Biomechanics and Biomedical Engineering, Vol: 12, Num: 6, Dic. 2009.

J04) Antonio M. López, Diego Alvarez, Rafael C. González, Juan C. Alvarez. Validity of 4 models to estimate walked distance from vertical COG acceleration. Journal of Applied Biomechanics, Vol. 24, Num. 4, Nov 2008.

J03) H. Hagras, F. Doctor, V. Callaghan, A.M. López. An Incremental Adaptive Life Long Learning Approach for Type-2 Fuzzy Embedded Agents in Ambient Intelligent Environments. IEEE Transactions on Fuzzy Systems 15-1 (2007), 41-55.

J02) Antonio M. López, D. Álvarez, H. Hagras, F. Doctor, V. Callaghan. Data-driven methods for the online generation of fuzzy controllers for intelligent building environments, Journal of Ubiquitous Computing and Intelligence 1-2 (2007), 153-162.

J01) Juan C. Alvarez, A. Shkel, V. Lumelsky. Accounting for Mobile Robot Dynamics in Sensor-Based Motion Planning. Int. Journal of Robotics and Automation 16-3 (2001), 132-141.

Book Chapters

B02) Diego Alvarez, Antonio M. López, Rafael C. González, Juan C. Alvarez. Comparison of Step Length Estimators from Weareable Accelerometer Devices. Encyclopaedia of Healthcare Information Systems, Ed. IGI Global Inc., 2008.

B01) Juan C. Alvarez, Rafael C. González, Diego Alvarez, Antonio M. López. Managing Limited Sensing Resources For Mobile Robots Obstacle Avoidance. Cutting Edge Robotics. Pág.: 185-200 ISBN: 3-86611-038-3. Ed. Advanced Robotic Systems International, Alemania, 2005.

Peer-reviewed Proceedings Publications

P26) M. Callejas-Cuervo, Andrea C. Alarcón-Aldana, and Juan C. Alvarez, Human body joint metrics using portable microsensors for biomechanical analysis, 11th Textile Bioengineering and Informatics Symposium, TBIS-2018, July 25-28, 2018, Manchester (UK).

P25) M. Callejas-Cuervo, J. C. Alvarez, and D. Alvarez, Capture and analysis of biomechanical signals with inertial and magnetic sensors as support in physical rehabilitation processes, 2016 IEEE 13th International Conference on Wearable and Implantable Body Sensor Networks (BSN), 2016, pp. 119–123.

P24) Juan C. Alvarez, Antonio M. López, Rafael C. González,Diego Alvarez. Pedestrian Dead Reckoning With Waist-Worn Inertial Sensors. En I2MTC 2012 - IEEE International Instrumentation and Measurement Technology Conference, Graz, Austria, 13-16th, may, 2012.

P23) Diego Alvarez, Juan C. Alvarez, Rafael C. González, Antonio M. López. Ambulatory human upper limb joint motion monitoring. En I2MTC 2012 - IEEE International Instrumentation and Measurement Technology Conference, Graz, Austria, 13-16th, may, 2012.

P22) Antonio M. López, Diego Alvarez, Rafael C. González, Juan C. Alvarez. Estimation of the geographic vertical position of a person using a shank-mounted inertial sensor. En I2MTC 2012 - IEEE International Instrumentation and Measurement Technology Conference, Graz, Austria, 13-16th, may, 2012.

P21) Javier Rodriguez-Uria, Rafael C. González, Diego Alvarez, Antonio M. López, Juan C. Alvarez. Real-Time Gait Event Detection Using a Biaxial Accelerometer. En ICAMPAM 2008 - 1st International Conference on Ambulatory Monitoring of Physical Activity, Rotterdam, Holanda, 21-24th, may, 2008

P20) Antonio M. López, Diego Alvarez, Rafael C. González, Juan C. Alvarez. Estimation of Displacement along Level Straight Paths through Body Center of Mass Accelerations. En IE 2007 - 3rd International Conference on Intelligent Environments, Ulm, Germany, 24-25th, september, 2007.

P19) E. Cordera, Antonio M. López, Diego Alvarez, Rafael C. González, Juan C. Alvarez. Physical Activity Classification from Body Center of Gravity Accelerations. En IE 2007 - 3rd International Conference on Intelligent Environments, Ulm, Germany, 24-25th, september, 2007.

P18) Rafael C. González, Diego Alvarez, Antonio M. López, Juan C. Alvarez. Modified Pendulum Model for Mean Step Length Estimation. En EMBC 2007 - IEEE 2007 International Conference of the Engineering in Medicine and Biology Society, Lyon, France, 23rd - 26th August, 2007.

P17) Juan C. Alvarez, Diego Alvarez, Antonio M. López, Rafael C. González, Javier Uría. Multisensor Approach to Uncertainty Reduction of Step Length Estimation by means of Foot Inertial Sensing. En EMBC 2007 - IEEE 2007 International Conference of the Engineering in Medicine and Biology Society, Lyon, France, 23rd - 26th August, 2007.

P16) Diego Alvarez, Antonio M. López, Rafael C. González, Juan C. Alvarez. Comparison of Step Length Estimators from Weareable Accelerometer Devices. En EMBC 2006 - IEEE 2006 International Conference of the Engineering in Medicine and Biology Society, New York, USA, August 30-Sept. 3, 2006

P15) Antonio M. López, Diego Alvarez, Rafael C. González, Juan C. Alvarez. A Biomechanical Model-based incremental estimation of pedestrian displacement for context aware services. En IE 2006 - 2nd International Conference on Intelligent Environments, NTU of Athens, Patras, Greece, 5-6 July 2006

P14) Juan C. Alvarez, Rafael C. González, Diego Alvarez, A. Shkel, V. Lumelsky. Dynamics and Safety in Sensor-Based Motion For Indoor Synchronous Mobile Robots. En IAS 8 - Intelligent Autonomous Systems, IOS Press, ISBN 1-58603-414-6, 2004

P13) Diego Alvarez, Juan C. Alvarez, Rafael C. González. A Sensor Based Motion Planning Algorithm with Potential Fields: A Completeness Analysis. En IAS 8 - Intelligent Autonomous Systems, IOS Press, ISBN 1-58603-414-6, 2004

P12) Rafael C. González, Juan C. Alvarez, Diego Alvarez, A. Shkel, V. Lumelsky. Sensor Management for Safe Robot Navigation with Bounded Motion and Sensing Capabilities. En IAS 8 - Intelligent Autonomous Systems, IOS Press, ISBN 1-58603-414-6, 2004

P11) Juan C. Alvarez, Rafael C. González, Diego Alvarez, A. Shkel, V. Lumelsky. Accounting For Limited Sensing in Real-Time Obstacle Avoidance for Mobile Robots. En ICRA 2004 - IEEE Int. Conf. on Robotics and Automation. April 26 - May 1, 2004. New Orleans Riverside Hilton & Towers, Louisiana, USA.

P10) Diego Alvarez, Juan C. Alvarez, Rafael C. González. Online Motion Planning using Laplace Potential Fields. En ICRA 2003 * IEEE Int. Conf. on Robotics and Automation. Sep 14 - Sep 19, 2003. Grand Hotel, Taipei, Taiwan.

P09) Pablo Garcia, Diego Alvarez, Rafael C. González, Juan C. Alvarez. Heading Estimation for Kalman Filter Based Localization: Analysis and Experiments. En ICAR 2003 - The 11th Int. Conf. on Advanced Robotics June 30 - July 3, 2003. Coimbra, Portugal.

P08) Juan C. Alvarez, Rafael C. González, D. Alvarez, A. Shkel, V. Lumelsky. Sensor Management for Local Obstacle Detection in Mobile Robots, En IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'2002 , Lausanne, Suiza (Oct.30-4 2002).

P07) Diego Alvarez, Juan C. Alvarez, Rafael C. González, J. Sirgo. Real-Time Scheduling Limitations to Robot Motion Planning: Experimental Results. XVI IMEKO World Congress, ISMCR'2000 Workshop, Vienna, Austria (Sep. 28-30 2000).

P06) Juan C. Alvarez, A. Shkel, V. Lumelsky. Active Sensing in Sensor-Based Motion Planning with Dynamics. XVI IMEKO World Congress, ISMCR'2000 Workshop, Vienna, Austria (Sep. 28-30 2000).

P05) Rafael C. González, J. Cancelas, J. A. Fernandez, Juan C. Alvarez, J. M. Enguita. Fast Stereo Vision Algorithm for Robotic Applications. 7ª IEEE Int. Conf. on Emerging Tech. and Factory Automation, Barcelona, Spain (1999).

P04) Rafael C. González, J. Cancelas, Juan C. Alvarez, I. Alvarez. Dynamic Programming Stereo Vision Algorithm for Robotic Applications. Vision Interface, Quebec, Canada (1999).

P03) Juan C. Alvarez, A. Shkel, V. Lumelsky. Accounting for Mobile Robot Dynamics in Sensor-Based Motion Planning: Experimental Results (abstract). IEEE Int. Conference in Robotics and Automation, Leuven, Belgium (May.16-21 1998).

P02) Juan C. Alvarez, J. Sirgo, A. Diez, H. Lopez. Localization and Planning in Sensor-Based Navigation for Mobile Robots. IFAC workshop on Intelligent Components for Vehicles, Sevilla, Spain (mar. 23-24, 1998).

P01) Juan C. Alvarez et al. A Dynamic Path Planner for Autonomous Vehicles, IFAC Workshop on Intelligent Components for Autonomous and Semi-Autonomous Vehicles, ICASAV’95, Toulouse, Francia. Ed. Pergamon Press, Oxford, UK.