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Aragonès, A. C., Aravena, D., Cerdá, J. I., Acís-Castillo, Z., Li, H., Real, J. A., Sanz, F., Hihath, J., Ruiz, E., Díez-Pérez, I., (2016). Large conductance switching in a single-molecule device through room temperature spin-dependent transport Nano Letters , 16, (1), 218-226

Controlling the spin of electrons in nanoscale electronic devices is one of the most promising topics aiming at developing devices with rapid and high density information storage capabilities. The interface magnetism or spinterface resulting from the interaction between a magnetic molecule and a metal surface, or vice versa, has become a key ingredient in creating nanoscale molecular devices with novel functionalities. Here, we present a single-molecule wire that displays large (>10000%) conductance switching by controlling the spin-dependent transport under ambient conditions (room temperature in a liquid cell). The molecular wire is built by trapping individual spin crossover FeII complexes between one Au electrode and one ferromagnetic Ni electrode in an organic liquid medium. Large changes in the single-molecule conductance (>100-fold) are measured when the electrons flow from the Au electrode to either an α-up or a β-down spin-polarized Ni electrode. Our calculations show that the current flowing through such an interface appears to be strongly spin-polarized, thus resulting in the observed switching of the single-molecule wire conductance. The observation of such a high spin-dependent conductance switching in a single-molecule wire opens up a new door for the design and control of spin-polarized transport in nanoscale molecular devices at room temperature.

Keywords: Density functional calculations, Magnetoresistance, Single-molecule junctions, Spin orbit coupling, Spin-crossover complexes, Spinterface, STM break-junction

Morales, R., Badesa, F. J., Garcia-Aracil, N., Aranda, J., Casals, A., (2015). Autoadaptive neurorehabilitation robotic system assessment with a post-stroke patient Revista Iberoamericana de Automatica e Informatica Industrial , 12, (1), 92-98

This paper presents a new rehabilitation system that is able to adapt its performance to patient's psychophysiological state during the execution of robotic rehabilitation tasks. Using this approach, the motivation and participation of the patient during rehabilitation activity can be maximized. In this paper, the results of the study with healthy subjects presented in (Badesa et al., 2014b) have been extended for using them with patients who have suffered a stroke. In the first part of the article, the different components of the adaptive system are exposed, as well as a comparison of different machine learning techniques to classify the patient's psychophysiological state between three possible states: stressed, average excitation level and relaxed are presented. Finally, the results of the auto-adaptive system which modifies the behavior of the rehabilitation robot and virtual task in function of measured physiological signals are shown for a patient in the chronic phase of stroke.

Keywords: Physiological state multimodal interfaces rehabilitation robotics control

Torrent-Burgués, J., Cea, P., Giner, I., Guaus, E., (2014). Characterization of Langmuir and Langmuir-Blodgett films of an octasubstituted zinc phthalocyanine Thin Solid Films , 556, 485-494

In this work we report the fabrication of Langmuir and Langmuir-Blodgett (LB) films of a substituted ZnPc (octakis(oxyoctyl)phthalocyanine of zinc), and their characterization by means of several techniques. These characterization techniques include surface pressure (π-A) and surface potential (ΔV-A) isotherms as well as UV-vis Reflection spectroscopy and Brewster Angle Microscopy (BAM) for the films at the air-water interface together with UV-vis absorption and IR spectroscopies and Atomic Force Microscopy (AFM) for the LB films. The π-A and ΔV-A isotherms and BAM images indicate a phase transition at a surface pressure of ca. 9 mN/m and a multilayer formation at surface pressures around 19-20 mN/m; at a surface pressure around 27 mN/m a disordered collapse of the film occurs. In addition, AFM images of LB films at π = 10 mN/m and π = 20 mN/m show a monomolecular and a multilayered film, respectively. The comparison of the UV-vis spectrum of ZnPc in solution, the reflection spectra of the Langmuir films and UV-vis spectra of LB films reveals a significant reduction in the Q band intensity for the films, indicative of an organization of ZnPc in the Langmuir and LB films versus the random distribution in solution. The UV-vis Reflection spectra are also consistent with multilayer formation at surface pressures around 19-20 mN/m. The relative intensities of the IR spectrum bands change from the KBr pellet to the LB film which is also attributable to orientation effects in the film. Cyclic voltammetric experiments of LB films incorporating the ZnPc derivative show peaks that can be correlated with redox processes occurring in the phthalocyanine ring. A small but significant influence of the surface pressure and the number of deposited layers in the electrochemical behaviour is observed. The electrochemical response of cast films exhibits some differences with respect to that of LB films which have been attributed to their different molecular organizations.

Keywords: Atomic Force Microscopy, Electrochemistry, Langmuir-Blodgett, Multilayers, Optical spectroscopy techniques, Zinc phthalocyanine, Atomic force microscopy, Electrochemistry, Interfaces (materials), Isotherms, Multilayers, Nitrogen compounds, Optical multilayers, Organic polymers, Zinc compounds, Brewster angle microscopy, Characterization techniques, Electrochemical behaviour, Langmuir and langmuir-blodgett films, Langmuir-blodgett, Optical spectroscopy techniques, UV-Vis Reflection Spectroscopy, Zinc phthalocyanines, Langmuir Blodgett films

Vinagre, M., Aranda, J., Casals, A., (2014). An interactive robotic system for human assistance in domestic environments Computers Helping People with Special Needs (ed. Miesenberger, K., Fels, D., Archambault, D., Pe, Zagler), Springer International Publishing 8548, 152-155

This work introduces an interactive robotic system for assistance, conceived to tackle some of the challenges that domestic environments impose. The system is organized into a network of heterogeneous components that share both physical and logical functions to perform complex tasks. It consists of several robots for object manipulation, an advanced vision system that supplies in-formation about objects in the scene and human activity, and a spatial augmented reality interface that constitutes a comfortable means for interacting with the system. A first analysis based on users' experiences confirms the importance of having a friendly user interface. The inclusion of context awareness from visual perception enriches this interface allowing the robotic system to become a flexible and proactive assistant.

Keywords: Accessibility, Activity Recognition, Ambient Intelligence, Human-Robot Interaction, Robot Assistance, Augmented reality, Complex networks, Computer vision, User interfaces, Accessibility, Activity recognition, Ambient intelligence, Domestic environments, Heterogeneous component, Interactive robotics, Robot assistance, Spatial augmented realities, Human assistance, Robotics

Casals, Alicia, Fedele, Pasquale, Marek, Tadeusz, Molfino, Rezia, Muscolo, GiovanniGerardo, Recchiuto, CarmineTommaso, (2014). A robotic suit controlled by the human brain for people suffering from quadriplegia Lecture Notes in Computer Science Towards Autonomous Robotic Systems (ed. Natraj, Ashutosh, Cameron, Stephen, Melhuish, Chris, Witkowski, Mark), Springer Berlin Heidelberg , 294-295

The authors present an introductory work for the implementation of an international cooperative project aimed at designing, developing and validating a new generation of ergonomic robotic suits, wearable by the users and controlled by the human brain. The aim of the proposers is to allow the motion of people affected by paralysis or with reduced motor abilities. Therefore, the project will focus on the fusion between neuroergonomics and robotics, also by means of brain-machine interfaces. Breakthrough solutions will compose the advanced robotic suit, endowed with soft structures to increment safety and human comfort, and with an advanced real-time control that takes into account the interaction with the human body.

Keywords: Neuroergonomics, Brain computer interfaces, Robotics, Robotic suits, Compliant actuators, Exoskeleton, EEG, Dynamic balance control

Diez-Perez, Ismael, Hihath, Joshua, Hines, Thomas, Wang, Zhong-Sheng, Zhou, Gang, Mullen, Klaus, Tao, Nongjian, (2011). Controlling single-molecule conductance through lateral coupling of [pi] orbitals Nature Nanotechnology , 6, (4), 226-231

In recent years, various single-molecule electronic components have been demonstrated(1). However, it remains difficult to predict accurately the conductance of a single molecule and to control the lateral coupling between the pi orbitals of the molecule and the orbitals of the electrodes attached to it. This lateral coupling is well known to cause broadening and shifting of the energy levels of the molecule; this, in turn, is expected to greatly modify the conductance of an electrodemolecule- electrode junction(2-6). Here, we demonstrate a new method, based on lateral coupling, to mechanically and reversibly control the conductance of a single-molecule junction by mechanically modulating the angle between a single pentaphenylene molecule bridged between two metal electrodes. Changing the angle of the molecule from a highly tilted state to an orientation nearly perpendicular to the electrodes changes the conductance by an order of magnitude, which is in qualitative agreement with theoretical models of molecular pi-orbital coupling to a metal electrode. The lateral coupling is also directly measured by applying a fast mechanical perturbation in the horizontal plane, thus ruling out changes in the contact geometry or molecular conformation as the source for the conductance change.

Keywords: Junction conductance, Electron-transport, Interface, Dependence, Mechanism, Length

Gugutkov, Dencho, Gonzalez-Garcia, Cristina, Altankov, George, Salmeron-Sanchez, Manuel, (2011). Fibrinogen organization at the cell-material interface directs endothelial cell behavior Journal of Bioactive and Compatible Polymers , 26, (4), 375-387

Fibrinogen (FG) adsorption on surfaces with controlled fraction of -OH groups was investigated with AFM and correlated to the initial interaction of primary endothelial cells (HUVEC). The -OH content was tailored making use of a family of copolymers consisting of ethyl acrylate (EA) and hydroxyl ethyl acrylate (HEA) in different ratios. The supramolecular distribution of FG changed from an organized network-like structure on the most hydrophobic surface (-OH(0)) to dispersed molecular aggregate one as the fraction of -OH groups increases, indicating a different conformation by the adsorbed protein. The best cellular interaction was observed on the most hydrophobic (-OH(0)) surface where FG assembled in a fibrin-like appearance in the absence of any thrombin. Likewise, focal adhesion formation and actin cytoskeleton development was poorer as the fraction of hydroxy groups on the surface was increased. The biological activity of the surface-induced FG network to provide 3D cues in a potential tissue engineered scaffold, making use of electrospun PEA fibers (-OH(0)), seeded with human umbilical vein endothelial cells was investigated. The FG assembled on the polymer fibers gave rise to a biologically active network able to direct cell orientation along the fibers (random or aligned), promote cytoskeleton organization and focal adhesion formation.

Keywords: Fibrinogen, Cell-material interactions, HUVEC, Electrospun fibers, Fibrinogen organization, Cell-material interface, Endothelial cell behavior, Ethyl acrylate, Hydroxyl ethyl acrylate

Lacroix, Damien, Ramirez Patino, Juan Fernando, (2011). Finite Element Analysis of Donning Procedure of a Prosthetic Transfemoral Socket Annals of Biomedical Engineering , 39, (12), 2972-2983

Lower limb amputation is a severe psychological and physical event in a patient. A prosthetic solution can be provided but should respond to a patient-specific need to accommodate for the geometrical and biomechanical specificities. A new approach to calculate the stress-strain state at the interaction between the socket and the stump of five transfemoral amputees is presented. In this study the socket donning procedure is modeled using an explicit finite element method based on the patient-specific geometry obtained from CT and laser scan data. Over stumps the mean maximum pressure is 4 kPa (SD 1.7) and the mean maximum shear stresses are 1.4 kPa (SD 0.6) and 0.6 kPa (SD 0.3) in longitudinal and circumferential directions, respectively. Locations of the maximum values are according to pressure zones at the sockets. The stress-strain states obtained in this study can be considered more reliable than others, since there are normal and tangential stresses associated to the socket donning procedure.

Keywords: Trans-tibial prosthesis, Knee residual limb, Pressure distribution, Transtibial amputees, Stump/socket interface, Mechanical conditions, Load-transfer, Soft-tissues, Stresses, Contact

Casals, A., (2010). Human – Robot cooperation techniques in surgery ICINCO 2010 7th International conference on Informatics in Control, Automation and Robotics , Springer (Madeira, Portugal) , 1-4

The growth of robotics in the surgical field is consequence of the progress in all its related areas, as: perception, instrumentation, actuators, materials, computers, and so. However, the lack of intelligence of current robots makes teleoperation an essential means for robotizing the Operating Room (OR), helping in the improvement of surgical procedures and making the best of the human-robot couple, as it already happens in other robotic application fields. The assistance a teleoperated system can provide is the result of the control strategies that can combine the high performance of computers with the surgeon knowledge, expertise and will. In this lecture, an overview of teleoperation techniques and operating modes suitable in the OR is presented, considering different cooperation levels. A special emphasis will be put on the selection of the most adequate interfaces currently available, able to operate in such quite special environments.

Keywords: Medical Robotics, Human Robot Interaction, Human Machine Interfaces, Surgical Robots

Andonovski, B., Ponsa, P., Casals, A., (2010). Towards the development of a haptics guideline in human-robot systems 3rd International Conference on Human System Interactions (HSI) 3rd International Conference on Human System Interactions (HSI) (ed. Pardela, T.), IEEE (Rzeszow, Poland) , 380-387

The main goal of this work is to propose a haptics guideline in human-robot systems focused on the relationship between the human and robot task, the use of a physical interface and the object to manipulate. With this aim, this guideline presents two main parts: a set of heuristic indicators and a qualitative evaluation. In order to assess its ergonomic validation, an application over a well known haptics interface is presented. The final goal of this work is the study of possible applications in regular laboratory conditions in order to improve the design and use of human-robot haptic interfaces in telerobotics applications.

Keywords: Haptic interface design, Human-robot interaction, Surgical applications, Teleoperation

Martinez, E., Engel, E., Lopez-Iglesias, C., Mills, C. A., Planell, J. A., Samitier, J., (2008). Focused ion beam/scanning electron microscopy characterization of cell behavior on polymer micro-/nanopatterned substrates: A study of cell-substrate interactions Micron , 39, (2), 111-116

Topographic micro and nanostructures can play an interesting role in cell behaviour when cells are cultured on these kinds of patterned substrates. It is especially relevant to investigate the influence of the nanometric dimensions topographic features on cell morphology, proliferation, migration and differentiation. To this end, some of the most recent fabrication technologies, developed for the microelectronics industry, can be used to produce well-defined micro and nanopatterns on biocompatible polymer substrates. In this work, osteoblast-like cells are grown on poly(methyl methacrylate) substrates patterned by nanoimprint lithography techniques. Examination of the cell-substrate interface can reveal important details about the cell morphology and the distribution of the focal contacts on the substrate surface. For this purpose, a combination of focused ion beam milling and scanning electron microscopy techniques has been used to image the cell-substrate interface. This technique, if applied to samples prepared by freeze-drying methods, allows high-resolution imaging of cross-sections through the cell and the substrate, where the interactions between the nanopatterned substrate, the cell and the extracellular matrix, which are normally hidden by the bulk of the cell, can be studied.

Keywords: Electron microscopy, Interface, Nanotopography, Osteoblast, Adhesion molecule, Cell morphology

Diez, Pablo F., Laciar, Eric, Mut, Vicente, Avila, Enrique, Torres, Abel, (2008). A comparative study of the performance of different spectral estimation methods for classification of mental tasks IEEE Engineering in Medicine and Biology Society Conference Proceedings 30th Annual International Conference of the Ieee Engineering in Medicine and Biology Society (ed. IEEE), IEEE (Vancouver, Canada) 1-8, 1155-1158

In this paper we compare three different spectral estimation techniques for the classification of mental tasks. These techniques are the standard periodogram, the Welch periodogram and the Burg method, applied to electroencephalographic (EEG) signals. For each one of these methods we compute two parameters: the mean power and the root mean square (RMS), in various frequency bands. The classification of the mental tasks was conducted with a linear discriminate analysis. The Welch periodogram and the Burg method performed better than the standard periodogram. The use of the RMS allows better classification accuracy than the obtained with the power of EEG signals.

Keywords: Adult, Algorithms, Artificial Intelligence, Cognition, Electroencephalography, Female, Humans, Male, Pattern Recognition, Automated, Reproducibility of Results, Sensitivity and Specificity, Task Performance and Analysis, User-Computer Interface

Díez-Pérez, Ismael, Vericat, Carolina, Gorostiza, Pau, Sanz, Fausto, (2006). The iron passive film breakdown in chloride media may be mediated by transient chloride-induced surface states located within the band gap Electrochemistry Communications , 8, (4), 627-632

Despite its tremendous scientific and economic impact, the mechanism that triggers metal passive film breakdown in the presence of aggressive ions remains under discussion. We have studied the iron passive film in chloride media using X-ray photoelectron spectroscopy (XPS), electrochemical impedance spectroscopy and electrochemical tunneling spectroscopy (ECTS). Ex situ XPS reveal that the film consists exclusively of an Fe(III) oxide without chloride content. In situ ECTS has been used to build up conductance maps of the Fe electrode during its electrochemical oxidation in a borate buffer solution and its breakdown when the film is grown in the presence of chloride. This conductograms provide direct and in situ experimental evidence of chloride-induced surface states within the band gap of the oxide film (~3.3eV). These states enable new charge exchange pathways that allow hole capture at the surface of the n-type Fe(III) oxide. The blocking of VB processes that occurs in the iron passive film is no longer present in chloride media, and electrode corrosion can proceed through these new states. We propose a simple 3-step mechanism for the process, in which chloride anions form an oxidizing Fe(II) surface intermediate but do not participate directly in the reaction.

Keywords: Electrochemical tunneling spectroscopy, Electronic band structure, Fe passive film, Aqueous chloride corrosion, Semiconductor decomposition, Interface states