New Sensor Device to Accurately Measure Cable Tension in Cable-Driven Parallel Robots.

Cable-driven parallel robots are a special type of robot in which an end-effector is attached to a fixed frame by means of several cables. The position and orientation of the end-effector can be controlled by controlling the length of the cables. These robots present a wide range of advantages, and the control algorithms required have greater complexity than those in traditional serial robots. Measuring the cable tension is an important task in this type of robot as many control algorithms rely on this information. There are several well-known approaches to measure cable tension in cable robots, where a trade-off between complexity and accuracy is observed. This work presents a new device based on strain gauges to measure cable tension specially designed to be applied in cable-driven parallel robots. This device can be easily mounted on the cable near the fixed frame, allowing the cable length and orientation to change freely, while the measure is taken before the cable passes through the guiding pulleys for improved accuracy. The results obtained from the device show a strong repeatability and linearity of the measures.

SwimOne. New Device for Determining Instantaneous Power and Propulsive Forces in Swimming.

The propulsive forces and instantaneous power that are generated by a swimmer have a great influence on the swimming performance. This works presents a new device, called SwimOne, for measuring propulsive force and estimating the instantaneous power of the swimmer. In addition, the detailed prototype is able to exert a customizable opposition force to the swimmer for training purpose. The conceptual idea is presented by describing the differential equation of the swimmer and the protocol for a factible estimation of the instantaneous power. The variables that are to be measured and estimated are identified and, consequently, the sensor and actuator systems can be selected. The high-level and detailed designs of the prototype are presented together with the protocol that is carried out in order to validate the sensor and actuation systems. The device is able to monitor the variables of interest of the swimmer together with the propulsive force and instant power. Finally, some experiments are carried out providing the results of several participants swimming in crawl, backstroke, butterfly, and breaststroke styles in the presence of different opposition force. The preliminary results show that SwimOne is valid for measuring instantaneous force and power with different loads in swimming.

Novel Methodology for Football Rebound Test Method.

Assessing and keeping control of the mechanical properties of sport surfaces is a relevant task in sports since it enables athletes to train and compete safely and under equal conditions. Currently, different tests are used for assessing athlete- and ball-surface interactions in artificial turf pitches. In order to make these evaluations more agile and accessible for every facility, it is important to develop new apparatus that enable to perform the tests in an easier and quicker way. The existing equipment for determining the vertical ball behavior requires a complex and non-easily transportable device in which the ball must be fixed to the upper part of the frame in a very precise position by means of a magnet. The rebound height is determined by capturing the acoustic signal produced when the ball bounces on the turf. When extended tests are conducted, the time required to evaluate a single field is too high due to the non-valid trials. This work proposes a novel methodology which allows to notoriously decrease the time of testing fields maintaining the repeatability and accuracy of the test method together with a compact device for improving its mobility and transport. Simulations and experiments demonstrates the repeatability and accuracy of the results obtained by the proposed device, which decreases the non-valid trials and notoriously reduces the time for field evaluation.