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Advancing the Adaptability of Compliant Robot Controllers for Exploration, Interaction, and Manipulation

As technology continues to evolve, robots are becoming an intrinsic part of our lives. While robots surpass human capabilities in precision and speed, they are far from matching humans' ability to adapt to unexpected changes. Humans can quickly and complia ...

EPFL2022

Review of control strategies for lower-limb exoskeletons to assist gait

Auke Ijspeert, Mohamed Bouri, Ali Reza Manzoori, Romain Pierre François Baud

Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a large range of control methods. The goal of this paper is to review and classify these control strategies, that determine how these devices interact with the user. Met ...

BioMed Central2021

Wearable Haptic Interfaces for Telerobotics

Vivek Ramachandran

Telerobotics is the process by which human operators control the movement of robots to achieve specific tasks. However, conventional control interfaces, such as joysticks and remote controllers, are not intuitive to use for novice users. Training to use th ...

EPFL2021

Control Strategies for Lower-limb Exoskeletons: from Full Mobilization to Assistance of Balance

Romain Pierre François Baud

Bipedal locomotion is a remarkable feature of humans. This skill is necessary for the activities of daily living. Unfortunately, many people only partially benefit from it or miss it entirely because of a disability. This may result in a slower gait, less ...

EPFL2020

Hand-worn Haptic Interface for Drone Teleoperation

Dario Floreano, Fabrizio Schiano, Matteo Macchini, Antoine Weber

Drone teleoperation is usually accomplished using remote radio controllers, devices that can be hard to master for inexperienced users. Moreover, the limited amount of information fed back to the user about the robot's state, often limited to vision, can r ...

2020

Exploring the Contribution of Proprioceptive Reflexes to Balance Control in Perturbed Standing

Auke Ijspeert, Anne Daniëlle Koelewijn

Humans control balance using different feedback loops involving the vestibular system, the visual system, and proprioception. In this article, we focus on proprioception and explore the contribution of reflexes based on force and length feedback to standin ...

FRONTIERS MEDIA SA2020

FCR: Fast and Consistent Controller-Replication in Software Defined Networking

Jean-Yves Le Boudec, Eleni Stai, Mia Primorac, Maaz Mashood Mohiuddin

We consider the problem of coordination among replicated SDN controllers, where the challenge is to ensure a consistent view of the network while reacting to network events in a prompt manner. Existing solutions are either consensus-based, which achieve co ...

2019

FOLDAWAY DroneSense, a controller for haptic information encoding for drone pilots

Jamie Paik, Stefano Mintchev, Marco Salerno

Over the last decade, the number of drones has significantly increased. In parallel, researchers have started to investigate new human-drone interaction paradigms for a more natural and immersive piloting experience. The use of haptic feedback to establish ...

2019

Haptic feedback perception and learning with cable-driven guidance in exosuit teleoperation of a simulated drone

Dario Floreano, Auke Ijspeert, Amy Roning Wu, Vivek Ramachandran, Carine Rognon

Robotics teleoperation enables human operators to control the movements of distally located robots. The development of new wearable interfaces as alternatives to hand-held controllers has created new modalities of control, which are more intuitive to use. ...

2019

Two-degrees-of-freedom (PID)-D-2 controller for precise nanopositioning in the presence of hardware-induced constant time delay

Andres San Millan Rodriguez

The fast and accurate tracking of periodic and arbitrary reference trajectories is the principal goal in many nanopositioning applications. Flexure-based piezoelectric stack driven nanopositioners are widely employed in applications where accurate mechanic ...

ELSEVIER SCIENCE INC2019

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Two-degrees-of-freedom (PID)-D-2 controller for precise nanopositioning in the presence of hardware-induced constant time delay

Andres San Millan Rodriguez

ELSEVIER SCIENCE INC2019