The paper proposes a parameter optimization of a three-coupled oscillator model representing cardiac rhythm. First was detected a set of parameters which has a high or low influence on ECG signal. Then was selected a set of parameters that cause a difference in HRV signal. Hence, five parameters of Sinoatrial oscillator were designed for estimating. The optimization by particle swarm with inertia actualization presented parameters which created an ECG signal closer than real ECG. Afterward, in order to compare the ECG model with a normal ECG, the space state of a real ECG signal was reconstructed using two techniques: delay coordinates embedding and singular values decomposition (SVD). The results showed the feasibility of parameter optimization on ECG model and the benefits of using SVD to reconstruct the space state instead of delay coordinates method in this case of ECG signal.

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A new generation of robots that work in cooperation with humans (called collaborative robots) needs some flexibility to adapt to the environment and activities with people. That is why the Series Elastic Actuator (SEA) has been a breakthrough in actuator technologies. The idea of inserting an elastic element in series with a motor allows a lower output impedance, consequently a flexible behavior in the manipulator, in addition to providing torque feedback to better compensate disturbances caused e.g. by friction losses. This article presents a four-bar mechanism with SEA for the purpose of robotic manipulation. Its kinematics and dynamicsare studied, as well as its regulation and trajectory control. The behavior of the decoupled four-bar mechanism and the characteristics of the SEA are also analyzed. Then the regulation control of the complete system is carried out using LQR control. Finally, a circular trajectory is controlled in a simulation to validate the proposed control strategy. The simulation results show the effectiveness of the proposed controller for the mechanism in the presence of SEAs estimating torque and providing the desired compliance for human interaction.

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