https://repositorio.ufu.br/handle/123456789/19288 Fri, 25 Sep 2026 03:42:44 GMT 2026-09-25T03:42:44Z https://repositorio.ufu.br/handle/123456789/50146 Title: Análise comparativa do torque em atuadores robóticos acionados por controle de 6 passos e controle por orientação de campo (FOC) aplicados à reabilitação de membros superiores Abstract: Loss of upper-limb motor function, often resulting from stroke, is one of the main challenges in physical rehabilitation, and assistive robotics has emerged as an alternative for delivering more intensive, consistent, and measurable therapy. In this context, the control strategy adopted by the electric actuator directly affects the quality of the torque delivered to the patient. This work aims to compare the performance of two driving techniques for permanent magnet synchronous motors (PMSM) — six-step commutation and Field-Oriented Control (FOC) — with respect to torque generation, within the context of a robotic rehabilitation platform for the upper limbs inspired by the MIT-Manus. Both strategies were modeled and compared in a MATLAB/Simulink environment; in parallel, a custom outrunner PMSM (14 pole pairs) and a dedicated driver built around the STSPIN32G4 system-in-package were developed, and the experimentally identified electrical parameters of the physical motor were incorporated into the simulation model for a higher-fidelity validation. Results showed that, for an equivalent average torque (approximately 1.03 N.m), FOC produced a peak-to-peak torque ripple of 0.323 N.m (31.4 \%), about 4.8 times lower than that observed with six-step commutation (1.547 N.m, 150.1 \%), along with a superior speed dynamic response. It is concluded that FOC is the most suitable control strategy for rehabilitation applications requiring smooth and precise torque delivery, with physical experimental validation of the prototype remaining as the next development step. Wed, 05 Aug 2026 00:00:00 GMT https://repositorio.ufu.br/handle/123456789/50146 2026-08-05T00:00:00Z https://repositorio.ufu.br/handle/123456789/50074 Title: Desenvolvimento de um jogo sério para apoio ao tratamento de transtornos de ansiedade e depressão Abstract: Anxiety and depression disorders represent one of the major global public health challenges, frequently facing access barriers and high dropout rates in traditional treatment. As a complementary alternative, serious games emerge as promising tools. The objective of this study was to develop and preliminarily evaluate the usability and immersion of a low-cost, highly accessible serious game, integrated with Artificial Intelligence technologies, acting as a complementary support tool for emotional regulation. The prototype was developed on the Unity engine (WebGL), focusing on sensorless interactions via webcam and microphone using the MediaPipe and Web Speech API libraries. The intervention was structured around three evidence-based ludic mechanics: diaphragmatic breathing, positive affirmations, and environmental organization. The study adopted a preliminary evaluation protocol with a non-clinical sample of 10 healthy young adults. Data collection employed the validated System Usability Scale (SUS) and the immersion subscale of the EGameFlow questionnaire. Quantitative results indicated excellent usability, with the system achieving a final composite SUS score of 85.8. The EGameFlow registered an overall average of 4.93 (on a 1 to 7 scale), demonstrating a medium level of immersive engagement, highlighting high cognitive absorption and distraction from daily worries (M = 5.70). Study limitations include the small size and non-clinical profile of the sample, as well as the tool's sensitivity to lighting variations and reliance on adequate hardware. It is concluded that the prototype presents technical viability and acceptability as an accessible support tool. However, the findings strictly reflect the engineering quality of the interface and do not allow for the inference of therapeutic efficacy, which will require future randomized controlled trials with diagnosed patients. Mon, 03 Aug 2026 00:00:00 GMT https://repositorio.ufu.br/handle/123456789/50074 2026-08-03T00:00:00Z https://repositorio.ufu.br/handle/123456789/50065 Title: Sistema vestível de navegação baseado em feedback vibrotátil para pedestres em condições de baixa visibilidade Abstract: This work presents the development of a wearable tactile navigation device for people with visual impairment, called "Volante". The system uses a belt with 11 vibrating motors positioned around the waist, controlled by an ESP32 plate with MPU9250 inertial sensor, which employs an Extended Kalman Filter to estimate user orientation in real time. The touch interface converts yaw angle into vibration patterns, allowing the user to perceive their direction relative to a predefined trajectory. Custom hardware with PCB, 3D printed buckle and cotton belt with Velcro, and modular firmware were developed, with experimental validation of the orientation filter. The prototype demonstrated technical feasibility, with stable convergence of the EKF and operation of the motors, representing a low-cost alternative to electronic canes and guides, contributing to the autonomy of blind people. Fri, 07 Aug 2026 00:00:00 GMT https://repositorio.ufu.br/handle/123456789/50065 2026-08-07T00:00:00Z https://repositorio.ufu.br/handle/123456789/49841 Title: Desenvolvimento de aplicativo de telemonitoramento para triagem e classificação de risco contínuo em pacientes com dengue Abstract: Dengue represents a public health challenge in Brazil due to its endemic nature and the significant increase in cases driven by climate change. Consequently, there is a high demand for medical care, even though patients find themselves in different phases of the disease (febrile, critical, or recovery). Therefore, it is fundamental to develop new strategies using telemedicine to relieve the healthcare system. The objective of this study was to develop a mobile telemonitoring application, named TeleDengue, focusing on initial screening, symptom tracking, and informative modules. The methodology was based on requirements gathering through forms applied to patients and medical professionals to identify the real needs of users, in addition to relying on Design Thinking principles for system idealization. Development was carried out using a low-code strategy, utilizing the FlutterFlow platform integrated with the Firebase database for the secure storage of clinical information. As a result, the application was structured into four main sections: symptom tracking, which issues alerts based on the severity of the selected symptoms; dengue information, featuring self-care and disease protection guidelines; care facilities in the city of Uberlândia, providing addresses and contact phone numbers; and symptom history, which offers automated charts and reports of the disease's progression to assist in future medical consultations. In conclusion, TeleDengue features functional tools that can assist in dengue care, with the potential to optimize patient flow, reduce the burden on healthcare units, and support patients in their recovery at home. Thu, 09 Jul 2026 00:00:00 GMT https://repositorio.ufu.br/handle/123456789/49841 2026-07-09T00:00:00Z