A high-level control algorithm capable of generating position and torque references from surface electromyography signals (sEMG) has been designed. It is applied to a shape memory alloy (SMA) actuated exoskeleton used in active rehabilitation therapies for elbow joints. The sEMG signals are filtered and normalized according data collected online during the first seconds of~therapy sessions. The control algorithm uses the sEMG signals to promote active participation of patients during the therapy session. In order to generate the position reference pattern with good precision, the sEMG normalized signal is compared with a pressure sensor signal to detect the intention of each movement. The algorithm has been tested in simulations and with healthy people for control of an elbow exoskeleton in flexion–extension movements. The results indicate that sEMG signals from elbow muscles in combination with pressure sensors that measure arm–exoskeleton interaction can be used as inputs for the control algorithm, which adapts the reference for exoskeleton movements according a patient's intention.

Las Loras UNESCO Global Geopark (UGGp) is geologically diverse, particularly in relation to water-derived features: springs, karst springs, travertine buildings, waterfalls, caves. In this work, the interactions between geology, geomorphology, structures and hydrogeology are analyzed. These four components are the fundamentals of geodiversity and their interactions provide a conceptual model of hydrogeological functioning at Las Loras UGGp. The most plausible hypothesis is that the system is formed by two superimposed aquifer systems, separated by an aquitard formed by Lower Cretaceous material. The deep lower aquifer formed by the Jurassic limestones only outcrops on the northern and southern edges of the Geopark and in a small arched band to the south of Aguilar de Campoo. It forms a basement subject to intense deformation. The upper aquifer system, formed by outcropping materials from the Upper Cretaceous, is a free aquifer. It is formed by a multilayered aquifer system that is highly compartmentalized by the very disturbed geomorphology of the landscape, constituting each moorland and each lora, an individualized recharge-discharge system. This model explains the base level of the rivers, the abundant number of existing springs and the permanent nature of some rivers, providing the keys to understand the bases of the geoconservation of a rich geological heritage linked to the active processes of the water cycle.