Publications by Philippe Müllhaupt

Feasibility of an alternative method to estimate glenohumeral joint center from videogrammetry measurements and CT/MRI of patients

Dominique Pioletti, Alexandre Terrier, Philippe Müllhaupt, Alain Farron, Ehsan Sarshari, Matteo Mancuso

Videogrammetry is commonly used to record upper limb motions. However, it cannot track the glenohumeral joint center (GH). GH is required to reconstruct upper limb motions. Therefore, it is often estimated by separately measuring scapular motions using sca ...

2021

A Matlab toolbox for scaled-generic modeling of shoulder and elbow

Dominique Pioletti, Alexandre Terrier, Philippe Müllhaupt, Ehsan Sarshari, Yasmine Boulanaache

There still remains a barrier ahead of widespread clinical applications of upper extremity musculoskeletal models. This study is a step toward lifting this barrier for a shoulder musculoskeletal model by enhancing its realism and facilitating its applicati ...

Nature Research2021

Muscle co-contraction in an upper limb musculoskeletal model: EMG-assisted vs. standard load-sharing

Dominique Pioletti, Alexandre Terrier, Philippe Müllhaupt, Alain Farron, Ehsan Sarshari, Matteo Mancuso

Estimation of muscle forces in over-actuated musculoskeletal models involves optimal distributions of net joint moments among muscles by a standard load-sharing scheme (SLS). Given that co-contractions of antagonistic muscles are counterproductive in the n ...

2021

On two isomorphic Lie algebroids associated with feedback linearization

Philippe Müllhaupt

We present two Lie algebroids linked to the construction of the linearizing output of an input affine nonlinear system. The algorithmic development of the linearizing output proceeds inductively, and each stage has two structures, namely a codimension one ...

ELSEVIER2019

On two isomorphic Lie algebroids for Feedback Linearization

Philippe Müllhaupt

Two Lie algebroids are presented that are linked to the construction of the linearizing output of an affine in the input nonlinear system.\ The algorithmic construction of the linearizing output proceeds inductively, and each stage has two structures, name ...

2019

Imprecise dynamic walking with time-projection control

Auke Ijspeert, Philippe Müllhaupt, Salman Faraji

We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions of the 3LP mode ...

2018

A simulation framework for humeral head translations

Dominique Pioletti, Alexandre Terrier, Philippe Müllhaupt, Alain Farron, Ehsan Sarshari

Humeral head translations (HHT) play a crucial role in the glenohumeral (GH) joint function. The available shoulder musculoskeletal models developed based on inverse dynamics however fall short of predicting the HHT. This study aims at developing a simulat ...

2017

A framework for forward-dynamics simulation of the human shoulder

Dominique Pioletti, Alexandre Terrier, Alain Farron, Philippe Müllhaupt, Ehsan Sarshari

A vast majority of the available biomechanical models of the human shoulder has been developed based on inverse dynamics, e.g. [1,2]. This imposes a number of limitations on their application. For instance, the glenohumeral joint is approximated as an idea ...

2016

Modelling of the human shoulder as a parallel mechanism without constraints

Alexandre Terrier, Philippe Müllhaupt, Alain Farron, David Ingram, Christoph Anselm Engelhardt

The synthesis of shoulder kinematics, either for simulation in a model or imitation in a robot, is a challenging task because of the contact between shoulder blade and ribcage. As the shoulder moves, the shoulder blade glides over the ribcage. In kinematic ...

Elsevier2016

Application of Artificial Neural Networks in Assessing the Equilibrium Depth of Local Scour Around Bridge Piers

Philippe Müllhaupt, Ehsan Sarshari

Scour can have the effect of subsidence of the piers in bridges, which can ultimately lead to the total collapse of these systems. Effective bridge design needs appropriate information on the equilibrium depth of local scour. The flow field around bridge p ...

2015