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

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Powered orthoses are leading to an imminent change in the field of assistance. The major challenges faced by the technology concern the management of the interaction between the user and the wearable device and the coordination between the user intention a ...

Springer International Publishing Ag2017

Endogenous Control of Powered Lower-Limb Exoskeleton

José del Rocio Millán Ruiz, Kyuhwa Lee, Ricardo Andres Chavarriaga Lozano, Dong Liu

We present an online decoding method for controlling a powered lower-limb exoskeleton using endogenously generated electroencephalogram (EEG) signals of human users. By performing a series of binary classifications, users control the exoskeleton in three d ...

Springer Int Publishing Ag2017

A Versatile Neuromuscular Exoskeleton Controller for Gait Assistance: A Preliminary Study on Spinal Cord Injury Patients

Auke Ijspeert, Florin Dzeladini, Amy Roning Wu, Tycho Jan Henricus Brug

We investigated the capabilities of a reflex-based neuromuscular controller with a knee and hip gait trainer worn by a subject with a complete spinal cord injury. With controller assistance, this subject was able to reach a walking speed of 1.0m/s. Measure ...

Springer Int Publishing Ag2017

The evolution to bipedalism forced humans to develop suitable strategies for dynamically controlling their balance, ensuring stability, and preventing falling. The natural aging process and traumatic events such as lower-limb loss can alter the human abili ...

Nature Publishing Group2017

In this paper, we present a new walking controller based on 3LP model. Taking advantage of linear equations and closed-form solutions of 3LP, the proposed controller can project the state of the robot at any time during the phase back to a certain event fo ...

2016

A Nonlinear Adaptive Controller for Airborne Wind Energy Systems

Colin Neil Jones, Ioannis Lymperopoulos, Andrea Alessandretti, Sanket Sanjay Diwale

A nonlinear adaptive path following controller for a kite based airborne wind energy system is presented. For a given desired geometric path, we provide necessary conditions for closed-loop convergence of the kite to a tube centered around the desired path ...

2016

Design and Characterization of a Lightweight and Fully Portable Remote Actuation System for Use With a Hand Exoskeleton

Roger Gassert, Olivier Lambercy, Jumpei Arata

Enabling individuals who are living with reduced mobility of the hand to utilize portable exoskeletons at home has the potential to deliver rehabilitation therapies with a greater intensity and relevance to activities of daily living. Various hand exoskele ...

2016

Long lies after a fall remain a public health challenge. Many successful fall prevention programmes have been developed but only few of them include recovery strategies after a fall. Once better understood, such movement strategies could be implemented int ...

Springer2016

La densification des villes et la limitation de l'étalement urbain sont, à ce jour, les principaux axes d'action pour une gestion durable du territoire suisse. Cette stratégie ne donne cependant aucune clef quant aux espaces périurbains existants qui, par ...

2016

Group recommender systems suggest items of interest to a group of people. Traditionally, group recommenders provide recommendations by aggregation the group membersâ preferences. Nowadays, there is a trend of decentralized group recommendation process th ...

EPFL2015