Pre-impact detection algorithm to identify lack of balance due to tripping-like perturbations
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Thanks to better actuator technologies and control algorithms, humanoid robots to date can perform a wide range of locomotion activities outside lab environments. These robots face various control challenges like high dimensionality, contact switches durin ...
Understanding how the human brain cortex behaves when the dynamical balance is unexpectedly challenged can be useful to enable fall prevention strategies during daily activities. In this respect, we designed and tested a novel methodological approach to ea ...
Bipedal locomotion is a challenging task in the sense that it requires to maintain dynamic balance while steering the gait in potentially complex environments. Yet, humans usually manage to move without any apparent difficulty, even on rough terrains. This ...
Passive spring-like structures can store and return energy during cyclic movements and thereby reduce the energetic cost of locomotion. That makes them important components of the human body and wearable assistive devices alike. This study investigates how ...
Nowadays, pain and mobility issues of the hip such as arthritis bring more and more people to go through a hip replacement. The primary stability of an implant is essential for the long-term success of hip arthroplasty. Excessive micromotion is an indicato ...
This study aimed at testing the hypothesis that reactive biomechanical responses elicited by unexpected slipping-like perturbations delivered during steady walking are characterized by an intersegmental coordination strategy resembling that adopted during ...
This paper presents a novel functional electrical stimulation paradigm to generate locomotion in paraplegic patients. We propose a closed-loop surface functional electrical stimulation (sFES) of 16 lower-limb muscles to produce all subphases of the gait. T ...
This paper presents the results of a study on the effect of in-series compliance on the locomotion of a simulated 8-DoF Lola-OP Modular Snake Robot with added compliant elements. We explore whether there is an optimal stiffness for gait, terrain type, or s ...
This study introduces a novel algorithm to detect unexpected slipping-like perturbations based on the comparison between actual leg joint angles and those predicted by a pool of adaptive oscillators. The approach grounds on the hypothesis that during postu ...
Recent developments in lower extremities wearable robotic devices for the assistance and rehabilitation of humans suffering from an impairment have led to several successes in the assistance of people who as a result regained a certain form of locomotive c ...