Publication

Review of control strategies for lower-limb exoskeletons to assist gait

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Stiffness control is critical in human manipulation. The ability to transition between a low stiffness state, allowing for compliant interactions with the environment, through to rigid states, where it is possible to exert high forces, enables much functio ...

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

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Bipedal locomotion is a remarkable feature of humans. This skill is necessary for the activities of daily living. Unfortunately, many people only partially benefit from it or miss it entirely because of a disability. This may result in a slower gait, less ...

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La phénoménotechnique questionnée par la médiation. L'exemple du showroom du Larsim.

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The purpose of this article is to present a space of mediation developed by the astrophysicist Vincent Minier and the philosopher Vincent Bontems at the Commissariat à l’Énergie atomique et aux Énergies renouvelables. This room, called “showroom”, promotes ...

Presses universitaires du Midi2020

Optimization-based controllers are advanced control systems whose mechanism of determining control inputs requires the solution of a mathematical optimization problem. In this thesis, several contributions related to the computational effort required for o ...

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