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Analysis of institutional authors

Brunete, ACorresponding AuthorGambao, EAuthorHernando, MAuthorCedazo, RAuthor

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June 10, 2021
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Article

Smart Assistive Architecture for the Integration of IoT Devices, Robotic Systems, and Multimodal Interfaces in Healthcare Environments

Publicated to: SENSORS. 21 (6): 1-25 - 2021-03-01 21(6), DOI: 10.3390/s21062212

Authors:

Brunete, Alberto; Gambao, Ernesto; Hernando, Miguel; Cedazo, Raquel
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Affiliations

‎ Univ Politecn Madrid, CSIC, Ctr Automat & Robot CAR, Madrid 28006, Spain - Author
‎ Univ Politecn Madrid, Escuela Tecn Super Ingn & Diseno Ind, Dept Elect Elect & Automat Control Engn & Appl Ph, Madrid 28012, Spain - Author

Abstract

This paper presents a new architecture that integrates Internet of Things (IoT) devices, service robots, and users in a smart assistive environment. A new intuitive and multimodal interaction system supporting people with disabilities and bedbound patients is presented. This interaction system allows the user to control service robots and devices inside the room in five different ways: touch control, eye control, gesture control, voice control, and augmented reality control. The interaction system is comprised of an assistive robotic arm holding a tablet PC. The robotic arm can place the tablet PC in front of the user. A demonstration of the developed technology, a prototype of a smart room equipped with home automation devices, and the robotic assistive arm are presented. The results obtained from the use of the various interfaces and technologies are presented in the article. The results include user preference with regard to eye-base control (performing clicks, and using winks or gaze) and the use of mobile phones over augmented reality glasses, among others.
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Keywords

AalAssistiveAssistive robotic armsAugmented realityControl servicesDelivery of health careDisabled personDisabled personsEye trackingHealth care deliveryHealthcare environmentsHumanHumansInteraction systemsInteractive computer systemsInternet of thingsInternet of things (iot)IotLow mobilityMhealthMobile robotsMulti-modal interactionsMulti-modal interfacesMultimodal interactionPeoplePeople with disabilitiesPersonal computersPersons with disabilitiesRobot assisted surgeryRobotic armsRobotic surgical proceduresRoboticsSelf help deviceSelf-help devicesSmart environments

Quality index

Bibliometric impact. Analysis of the contribution and dissemination channel

The work has been published in the journal SENSORS due to its progression and the good impact it has achieved in recent years, according to the agency Scopus (SJR), it has become a reference in its field. In the year of publication of the work, 2021, it was in position , thus managing to position itself as a Q1 (Primer Cuartil), in the category Instrumentation.

From a relative perspective, and based on the normalized impact indicator calculated from World Citations provided by WoS (ESI, Clarivate), it yields a value for the citation normalization relative to the expected citation rate of: 2.06. This indicates that, compared to works in the same discipline and in the same year of publication, it ranks as a work cited above average. (source consulted: ESI Nov 13, 2025)

This information is reinforced by other indicators of the same type, which, although dynamic over time and dependent on the set of average global citations at the time of their calculation, consistently position the work at some point among the top 50% most cited in its field:

  • Weighted Average of Normalized Impact by the Scopus agency: 2.89 (source consulted: FECYT Mar 2025)

Specifically, and according to different indexing agencies, this work has accumulated citations as of 2026-04-25, the following number of citations:

  • WoS: 31
  • Scopus: 52
  • Europe PMC: 9
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Impact and social visibility

From the perspective of influence or social adoption, and based on metrics associated with mentions and interactions provided by agencies specializing in calculating the so-called "Alternative or Social Metrics," we can highlight as of 2026-04-25:

  • The use, from an academic perspective evidenced by the Altmetric agency indicator referring to aggregations made by the personal bibliographic manager Mendeley, gives us a total of: 100.
  • The use of this contribution in bookmarks, code forks, additions to favorite lists for recurrent reading, as well as general views, indicates that someone is using the publication as a basis for their current work. This may be a notable indicator of future more formal and academic citations. This claim is supported by the result of the "Capture" indicator, which yields a total of: 100 (PlumX).

With a more dissemination-oriented intent and targeting more general audiences, we can observe other more global scores such as:

  • The Total Score from Altmetric: 7.
  • The number of mentions on the social network X (formerly Twitter): 1 (Altmetric).
  • The number of mentions in news outlets: 1 (Altmetric).

It is essential to present evidence supporting full alignment with institutional principles and guidelines on Open Science and the Conservation and Dissemination of Intellectual Heritage. A clear example of this is:

  • The work has been submitted to a journal whose editorial policy allows open Open Access publication.
  • Assignment of a Handle/URN as an identifier within the deposit in the Institutional Repository: https://oa.upm.es/90809/

As a result of the publication of the work in the institutional repository, statistical usage data has been obtained that reflects its impact. In terms of dissemination, we can state that, as of

  • Views: 98
  • Downloads: 11
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Leadership analysis of institutional authors

There is a significant leadership presence as some of the institution’s authors appear as the first or last signer, detailed as follows: First Author (BRUNETE GONZALEZ, ALBERTO) and Last Author (CEDAZO LEON, RAQUEL).

the author responsible for correspondence tasks has been BRUNETE GONZALEZ, ALBERTO.

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Project objectives

Los objetivos perseguidos en esta aportación son desarrollar una arquitectura inteligente que integre dispositivos IoT, sistemas robóticos y usuarios en entornos asistenciales; diseñar un sistema de interacción multimodal e intuitivo para personas con discapacidad y pacientes encamados; permitir el control de robots y dispositivos mediante cinco modalidades: táctil, ocular, gestual, por voz y realidad aumentada; implementar un brazo robótico asistencial que posicione una tableta frente al usuario; y evaluar las preferencias y resultados de uso de las distintas interfaces, incluyendo el control ocular y la comparación entre teléfonos móviles y gafas de realidad aumentada.
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Most relevant results

Los resultados más relevantes del estudio demuestran la efectividad de una arquitectura asistencial inteligente que integra dispositivos IoT, robots de servicio y usuarios en entornos sanitarios. Se desarrolló un sistema de interacción multimodal que permite controlar robots y dispositivos mediante cinco métodos: control táctil, ocular, gestual, por voz y realidad aumentada. Se implementó un brazo robótico asistencial que posiciona un tablet PC frente al usuario. Se presentó un prototipo de habitación inteligente equipada con domótica y el brazo robótico. Los resultados incluyen la preferencia del usuario por el control ocular basado en clics, guiños y mirada, así como la mayor aceptación del uso de teléfonos móviles frente a gafas de realidad aumentada.
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