Publications by Ali Reza Manzoori

Adaptive hip exoskeleton control using heart rate feedback reduces oxygen cost during ecological locomotion

Auke Ijspeert, Mohamed Bouri, Ali Reza Manzoori

Despite their potential, exoskeletons have not reached widespread adoption in daily life, partly due to the challenge of seamlessly adapting assistance across various tasks and environments. Task-specific designs, reliance on complex sensing and extensive ...

Nature Research2025

Novel neuromuscular controllers with simplified muscle model and enhanced reflex modulation: A comparative study in hip exoskeletons

Auke Ijspeert, Mohamed Bouri, Ali Reza Manzoori, Andrea Di Russo, Sara Messara

Neuromuscular controllers (NMCs) offer a promising approach to adaptive and task-invariant control of exoskeletons for walking assistance, leveraging the bioinspired models based on the peripheral nervous system. This article expands on our previous develo ...

CAMBRIDGE UNIV PRESS2024

Evaluation of controllers for augmentative hip exoskeletons and their effects on metabolic cost of walking: explicit versus implicit synchronization

Auke Ijspeert, Mohamed Bouri, Ali Reza Manzoori

Background: Efficient gait assistance by augmentative exoskeletons depends on reliable control strategies. While numerous control methods and their effects on the metabolic cost of walking have been explored in the literature, the use of different exoskele ...

Frontiers Media Sa2024

Task-Adaptive Control Strategies of Augmentative Hip Exoskeletons for Deployable Assistance

Ali Reza Manzoori

Augmentative lower-limb exoskeletons and exosuits (collectively: exos) hold transformative potential for individuals across the mobility spectrum, from people affected by impairments to able-bodied persons aiming to enhance their physical capabilities. How ...

EPFL2024

Novel Design and Implementation of a Neuromuscular Controller on a Hip Exoskeleton for Partial Gait Assistance

Auke Ijspeert, Mohamed Bouri, Ali Reza Manzoori, Andrea Di Russo, Sara Messara

Exoskeletons intended for partial assistance of walking should be able to follow the gait pattern of their users, via online adaptive control strategies rather than imposing predefined kinetic or kinematic profiles. NeuroMuscular Controllers (NMCs) are ada ...

2023

State-Based Versus Time-Based Estimation of the Gait Phase for Hip Exoskeletons in Steady and Transient Walking

Auke Ijspeert, Mohamed Bouri, Ali Reza Manzoori, Tian Ye

The growing demand for online gait phase (GP) estimation, driven by advancements in exoskeletons and prostheses, has prompted numerous approaches in the literature. Some approaches explicitly use time, while others rely on state variables to estimate the G ...

IEEE2023

Gait Phase Estimation in Steady Walking: A Comparative Study of Methods Based on the Phase Portrait of the Hip Angle

Auke Ijspeert, Mohamed Bouri, Ali Reza Manzoori, Coline Lugaz, Tian Ye, Davide Malatesta

Accurate real-time estimation of the gait phase (GP) is crucial for many control methods in exoskeletons and prostheses. A class of approaches to GP estimation construct the phase portrait of a segment or joint angle, and use the normalized polar angle of ...

IEEE Xplore2023

TWIICE One powered exoskeleton: effect of design improvements on usability in daily life as measured by the performance in the CYBATHLON race

Mohamed Bouri, Ali Reza Manzoori

Background Spinal cord injury leading to paraplegia affects the mobility and physiological well-being of one in a thousand people. Powered exoskeletons can temporarily restore the ability to walk. Their relevance in daily life is still limited because of l ...

BioMed Central2022

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