2026-05-30T11:39:23Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/398142026-02-03T12:33:59Zcom_10630_2254col_10630_38021

IoRT-in-hand software. Bravo-Arrabal, Juan Cheng, Zhuoqi Fernández-Lozano, Juan Jesús Gómez-Ruiz, José Antonio Schlette, Christian Savarimuthu, Thisius Rajeeth Mandow, Anthony García-Cerezo, Alfonso José Informática en la nube Internet de los objetos Robótica Medicina - Material y equipo Ingeniería biomédica Simulación por ordenador The integration of robotics and mobile networks (5G/6G) through the Internet of Robotic Things (IoRT) is revolutionizing telemedicine, enabling remote physician participation in scenarios where specialists are scarce, where there is a high risk to them, such as in conflicts or natural disasters, or where access to a medical facility is not possible. Nevertheless, touching a human safely with a robotic arm in non-engineered or even out-of-hospital environments presents substantial challenges. This article presents a novel IoRT approach for healthcare in or from remote areas, enabling interaction between a specialist’s hand and a robotic hand. We introduce the IoRT-in-hand: a smart, lightweight end-effector that extends the specialist’s hand, integrating a medical instrument, an RGB camera with servos, a force/torque sensor, and a mini-PC with Internet connectivity. Additionally, we propose an open-source Android app combining MQTT and ROS for real-time remote manipulation, alongside an Edge–Cloud architecture that links the physical robot with its Digital Twin (DT), enabling precise control and 3D visual feedback of the robot’s environment. A proof of concept is presented for the proposed tele-robotic system, using a 6-DOF manipulator with the IoRT-in-hand to perform an ultrasound scan. Teleoperation was conducted over 2300 km via a 5G NSA network on the operator side and a wired network in a laboratory on the robot side. Performance was assessed through human subject feedback, sensory data, and latency measurements, demonstrating the system’s potential for remote healthcare and emergency applications. 2025-09-09T12:44:21Z 2025-09-09T12:44:21Z 2025-09-09T12:44:21Z 2025-08-11 software https://hdl.handle.net/10630/39814 eng Bravo-Arrabal, J., Cheng, Z., Fernández-Lozano, J. J., Gomez-Ruiz, J. A., Schlette, C., Savarimuthu, T. R., Mandow, A., & García-Cerezo, A. (2025). The IoRT-in-Hand: Tele-Robotic Echography and Digital Twins on Mobile Devices. Sensors, 25(16), 4972. https://doi.org/10.3390/s25164972 https://hdl.handle.net/10630/39813 info:eu-repo/grantAgreement/Ministerio de Ciencia e Innovación/Proyectos de Generación del Conocimiento 2021/PID2021-122944OB-I00/ES//SAR4.0 http://creativecommons.org/licenses/by/4.0/ open access Attribution 4.0 Internacional Universidad de Málaga