Biomechatronics

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EXiO-A Brain-Controlled Lower Limb Exoskeleton for Rhesus Macaques

Hannes Bleuler, Mohamed Bouri, Jeremy Olivier, Miguel Nicolelis, Tristan Hubert Vouga

Recent advances in the field of brain-machine interfaces (BMIs) have demonstrated enormous potential to shape the future of rehabilitation and prosthetic devices. Here, a lower-limb exoskeleton controlled by the intracortical activity of an awake behaving ...

Ieee-Inst Electrical Electronics Engineers Inc2017

Spinal joint compliance and actuation in a simulated bounding quadruped robot

Auke Ijspeert, Alexander Spröwitz, Soha Pouya, Mohammad Khodabakhsh

Spine movements play an important role in quadrupedal locomotion, yet their potential benefits in locomotion of quadruped robots have not been systematically explored. In this work, we investigate the role of spinal joint actuation and compliance on the bo ...

Springer2017

A multimodal framework for the design and the assessment of robotic-assisted treatments for motor disorders

Elvira Pirondini

Robotic devices represent an undeniable alternative method to traditional therapy. However, the clinical use of robot-assisted rehabilitation for patients with hemiplegia after stroke has been restricted for decades by i) limited functional characterisatio ...

EPFL2017

Modeling, Characterization and Control of a Novel Torsional Shape Memory Alloy (SMA) Actuator

Jamie Paik, Zhenishbek Zhakypov, Jian-Lin Huang

Thermally activated shape memory alloy (SMA) actuators are direct-driven and produce high power density with design versatility. However, beyond their linear actuation in spring forms there is little variety and their application in robotics is limited by ...

Institute of Electrical and Electronics Engineers2016

Development of Walk Assistive Orthoses for Elderly

Jeremy Olivier

The proportion of elderly people is rapidly growing and the resources to help them will soon be insufficient. An important difficulty faced by the seniors is locomotion. Among the conditions that may be responsible for gait impairment, the reduced muscular ...

EPFL2016

Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices

Jamie Paik, Gunjan Agarwal, Basile Nicolas Audergon, Nicolas Besuchet

Soft actuators made from elastomeric active materials can find widespread potential implementation in a variety of applications ranging from assistive wearable technologies targeted at biomedical rehabilitation or assistance with activities of daily living ...

Nature Research2016

Soft Pneumatic Actuator Skin with Embedded Sensors

Jamie Paik, Yun Seong Song, Chansu Suh

Soft Pneumatic Actuator skin (SPA-skin) is a novel concept of ultra-thin (< 1 mm) sensor embedded actuators with distributed actuation points that could cover soft bodies. This highly customizable and flexible SPA-skin is ideal for providing proprioceptive ...

Ieee2014

Sensor and actuator integrated low-profile robotic Origami

Jamie Paik, Yi Sun, Amir Firouzeh

The robotic origami (Robogami) is a low-profile, sheet-like robot with multi degrees-of-freedom (DoF) that embeds different functional layers. Due to its planar form, it can take advantage of precise 2D fabrication methods usually reserved for micro and na ...

Ieee2013

Model-Based and Model-Free Approaches for Postural Control of a Compliant Humanoid Robot using Optical Flow

Auke Ijspeert, Jesse van den Kieboom, Sébastien Gay, José Santos-Victor

Vision is a very rich sensor with a proven critical role in the control of balance. However, it is widely under- used for robotics postural control. This paper presents and compares two approaches, one model-based and one model-free, to ensure stability of ...

2013

Decoding Self-paced Upper Limb Reaching Movements from Brain Signals

José del Rocio Millán Ruiz, Eileen Lew Yi Lee

Future emerging technologies in upper limb neuroprosthetic devices will require decoding and executing the user's intended movement. Previous studies, using invasive and non-invasive brain signals, have shown promising results in decoding movement directio ...

EPFL2012

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