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Working areas

GRINS works principally on the next research areas:

  • Medical image.
  • Video analyzing.
  • Quality control with computer vision.
  • Visual perception in robotics.
  • Examples:

CT images Volume Rendering (2001) Arms' movement detection with computer vision (1998)




Baby's breathing rhythm detection with computer vision (2002)

Assistive robotics

Environment interpretation and human intention for robot assistance in daily living activities.



Experimental platform for robot assistance in domestic applications

Smart walker for assistance and rehabilitation


Rehabilitation robotics

Development of control strategies for assist as needed rehabilitation.



Exoskeleton for walking assistance and rehabilitation

Volitional control in robot assisted rehabilitation


Surgical robotics

Development of control strategies for assistance in surgery, either teleoperated or in comanipulation.



Assisted teleoperation to improve accuracy in microsurgery
Virtual fixtures in cooperative surgery



Vision based force estimation for haptic perception in surgery

Experimental robotic platform for surgical robotics



Multiarm surgical robot simulator


  • Control strategies for advanced robotic instalations.

The underwater robotics' research begins in 1994 with the Garbí project, an underwater exploration robot for long-term biological deep sea observations. The robot, which was initially designed for observe and pick up samples with his arms, it's now a working platform for teleoperation strategies' studies.


Garbí Robot (1994 -2012)


Milana Robot (1994 -2012)




Virtual sailing with deep sea real images (2003)