Review of control strategies for lower-limb exoskeletons to assist gait
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Today, automatic control is integrated into a wide spectrum of real-world systems such as electrical grids and transportation networks. Many of these systems comprise numerous interconnected agents, perform safety-critical operations, or generate large amo ...
This article examines the importance of integrating locomotion and cognitive information for achieving dynamic locomotion from a viewpoint combining biology and ecological psychology. We present a mammalian neuromusculoskeletal model from external sensory ...
Cloud platform services must simultaneously be scalable, meet low tail latency service-level objectives, and be resilient to a combination of software, hardware, and network failures. Replication plays a fundamental role in meeting both the scalability and ...
2020
Locomotion is based on a sophisticated interaction among the environment, the musculoskeletal system, the spinal cord, and the brain locomotor areas. Quality of life is strongly related to the proper capability of this movement. However, many pathologies, ...
EPFL2023
,
We propose a new control approach for the twisted string actuation (TSA) system; a hybrid control scheme consisting of two nested loops, considering the motor angle and the axial force at the clamping point of the actuator as the system outputs. We show th ...
2020
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 ...
EPFL2019
,
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 ...
Institute of Electrical and Electronics Engineers Inc.2021
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
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 ...
EPFL2020
The primary objective of this doctoral thesis is the design and development of hierarchical control schemes for the overall operation and control of Islanded mGs (ImGs) with flexible structuresâor, with no reference topologies.The control methodologies ...
