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Publications associées (74)
Liquid Metal-Based Sensor Skin Enabling Haptic Perception of Softness
Stéphanie Lacour, Ivan Furfaro, Emilio Fernández Lavado, Haotian Chen
Haptic perception of softness is a unique feature of the human skin that relies on the concurrent measurements of the lateral deformation and compression of the skin during object manipulation. This is challenging to implement in robotics because of combin ...
2023Time Reverse Impulse Demonstrator Force Sensing Surface
The goal of this project is to design, build and test a 3D touch-sensing interface prototype capable of reading input positional and force values that then generate sinusoidal sound waves. This prototype is intended to be integrated onto a haptic feedback ...
2022Review 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 ...
BMC2021Wearable Haptic Interfaces for Telerobotics
Telerobotics is the process by which human operators control the movement of robots to achieve specific tasks.However, conventional control interfaces, such as joysticks and remote controllers, are not intuitive to use for novice users.Training to use thes ...
EPFL2021Soft Touch using Soft Pneumatic Actuator-Skin as a Wearable Haptic Feedback Device
Jamie Paik, Harshal Arun Sonar, Jian-Lin Huang
Understanding the external environment depends heavily on vision, audition, and touch. Like vision and audition, the human sense of touch is complex. Tactile perception is composed of multiple fundamental and physical experiences felt as changes in stiffne ...
WILEY2021Bio-inspired standing balance controller for a full-mobilization exoskeleton
Mohamed Bouri, Jemina Fasola, Tristan Hubert Vouga, Romain Pierre François Baud
The invention concerns a method of performing automatic standing balance of a user in a full mobilization exoskeleton with at least a foot and using at least two actuated degrees of freedom, wherein a controller uses information provided from sensors to pr ...
2021Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control
Aude Billard, Mohamed Bouri, Walid Amanhoud, Jacob Hernandez Sanchez
Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as requi ...
2021Control Strategies for Lower-limb Exoskeletons: from Full Mobilization to Assistance of Balance
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 ...
EPFL2020Hand-worn Haptic Interface for Drone Teleoperation
Dario Floreano, Fabrizio Schiano, Matteo Macchini, Antoine Weber
Drone teleoperation is usually accomplished using remote radio controllers, devices that can be hard to master for inexperienced users. Moreover, the limited amount of information fed back to the user about the robot's state, often limited to vision, can r ...
2020Exploring the Contribution of Proprioceptive Reflexes to Balance Control in Perturbed Standing
Auke Ijspeert, Anne Daniëlle Koelewijn
Humans control balance using different feedback loops involving the vestibular system, the visual system, and proprioception. In this article, we focus on proprioception and explore the contribution of reflexes based on force and length feedback to standin ...
FRONTIERS MEDIA SA2020