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Publications associées (29)

Multi-segment analysis of spinal kinematics during sit-to-stand in patients with chronic low back pain

Julien Favre, Thomas Legrand, Guillaume Christe

While alterations in spinal kinematics have been frequently reported in patients with chronic low back pain (CLBP), a better characterization of the kinematics during functional activities is needed to improve our understanding and therapeutic solutions fo ...

Elsevier Sci Ltd2016

Seismic Behavior and Physical Theory Model of a Steel Brace with Intentional Eccentricity

Hiroyuki Inamasu

The present paper proposes an improved design of conventional steel braces (CBBs). CBBs are characterized by intense mid-length local buckling that leads to early fracture, limited post-yielding stiffness, and provide very large strength and stiffness. In ...

2016

Mechanisms Underlying the Neuromodulation of Spinal Circuits for Correcting Gait and Balance Deficits after Spinal Cord Injury

Silvestro Micera, Grégoire Courtine, Eduardo Martin Moraud, Marco Capogrosso, Nikolaus Wenger, Emanuele Formento

Epidural electrical stimulation of lumbar segments facilitates standing and walking in animal models and humans with spinal cord injury. However, the mechanisms through which this neuromodulation therapy engages spinal circuits remain enigmatic. Using comp ...

Elsevier2016

Patient-specific spinal stiffness in AIS: a preoperative and noninvasive method

Steve Michel Berger

The clinical tests currently used to assess spinal biomechanics preoperatively are unable to assess true mechanical spinal stiffness. They rely on spinal displacement without considering the force required to deform a patient's spine. We propose a preopera ...

Springer2015

Cheetah-cub-S: Steering of a Quadruped Robot using Trunk Motion

Auke Ijspeert, Peter Eckert, Karl Weinmeister

A reliable concept for steering was realized by in- tegrating a spine-like structure with one DoF into a quadruped robot - Cheetah-cub-S. We increased maneuverability dramat- ically compared to a robot with rigid spine, while keeping controlling effort low ...

2015

Cheetah-cub-S: Steering of a Quadruped Robot using Trunk Motion

Auke Ijspeert, Peter Eckert, Karl Weinmeister

In Cheetah-cub-S we realized an efficiant concept by implementing a spine-like structure with one DoF into a quadruped, modular and mobile platform. We increased maneuverability dramatically compared to a robot with rigid spine, while keeping controlling e ...

2015

Robust Walking Using Peicewise Linear Spring

Auke Ijspeert, Mahdi Khoramshahi

Having a direct impact on the energy efficiency has made the compliance a favorable element in the robotic systems. Moreover, legged system can benefit from compliance for stability, speed, adaptability and robustness. Recently, we have studied the effects ...

2014

Ultrascale and Microscale Growth Dynamics of the Cidaroid Spine of Phyllacanthus imperialis Revealed by Mg-26 Labeling and NanoSIMS Isotopic Imaging

Anders Meibom, Jaroslaw Hubert Stolarski, Stéphane Laurent Escrig

Growth dynamics of the primary spine of the cidaroid sea urchin Phyllacanthus imperialis was assessed for the first time using pulsed Mg-26-labeling and NanoSIMS isotopic imaging. The sea urchin was incubated twice (for 48 h) in artificial seawater with el ...

Wiley-Blackwell2014

Benefits of an Active Spine Supported Bounding Locomotion With a Small Compliant Quadruped Robot

Auke Ijspeert, Mahdi Khoramshahi, Alexander Spröwitz, Alexandre Tuleu

We studied the effect of the control of an active spine versus a fixed spine, on a quadruped robot run- ning in bound gait. Active spine supported actuation led to faster locomotion, with less foot sliding on the ground, and a higher stability to go straig ...

2013

Piecewise linear spine for speed-energy efficiency trade-off in quadruped robots

Auke Ijspeert, Mahdi Khoramshahi

We compare the effects of linear and piecewise linear compliant spines on locomotion performance of quadruped robots in terms of energy efficiency and locomotion speed through a set of simulations and experiments. We first present a simple locomotion syste ...

Elsevier2013

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