Concept

Exosquelette motorisé

Publications associées (111)

Comparing the effect of different spine and leg designs for a small bounding quadruped robot

Auke Ijspeert, Alexander Spröwitz, Peter Eckert

We present Lynx-robot, a quadruped, modular, compliant machine. It alternately features a directly actuated, single-joint spine design, or an actively supported, passive compliant, multi-joint spine conﬁguration. Both spine con- ﬁgurations bend in the sagi ...

2015

A survey of sensor fusion methods in wearable robotics

Modern wearable robots are not yet intelligent enough to fully satisfy the demands of endusers, as they lack the sensor fusion algorithms needed to provide optimal assistance and react quickly to perturbations or changes in user intentions. Sensor fusion a ...

Elsevier2014

On the dynamics of human locomotion and co-design of lower limb assistive devices

Jesse van den Kieboom

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 ...

EPFL2014

Kinematic primitives for walking and trotting gaits of a quadruped robot with compliant legs

Auke Ijspeert, Alexander Spröwitz, Mostafa Ajallooeian, Alexandre Tuleu

In this work we research the role of body dynamics in the complexity of kinematic patterns in a quadruped robot with compliant legs. Two gait patterns, lateral sequence walk and trot, along with leg length control patterns of different complexity were impl ...

Frontiers Research Foundation2014

Control approaches for robotic knee exoskeleton and their effects on human motion

Tadej Petric

In this paper we compare three noninvasive control methods for a robotic knee exoskeleton and asses their kinematic influences on the repetitive squatting motions of able-bodied human subjects. The motion of the subjects wearing the knee exoskeleton was al ...

2013

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

Real-Time Estimate of Velocity and Acceleration of Quasi-Periodic Signals Using Adaptive Oscillators

Auke Ijspeert, Renaud Ronsse

Estimation of the temporal derivatives of a noisy position signal is a ubiquitous problem in industrial and robotics engineering. Here, we propose a new approach to get velocity and acceleration estimates of cyclical/periodic signals near to steady-state r ...

Ieee-Inst Electrical Electronics Engineers Inc2013

Representation of Vehicle Dynamics in Haptic Teleoperation of Aerial Robots

Felix Stephan Schill

This paper considers the question providing effective feedback of vehicle dynamic forces to a pilot in haptic teleoperation of aerial robots. We claim that the usual state-of-the-art haptic interface, based on research motivated by robotic manipulator slav ...

2013

Dynamic Characterization and Interaction Control of the CBM-Motus Robot for Upper-Limb Rehabilitation

Massimo Vespignani

This paper presents dynamic characterization and control of an upper-limb rehabilitation machine aimed at improving robot performance in the interaction with the patient. An integrated approach between mechanics and control is the key issue of the paper fo ...

Intech -Open Access Publisher2013

Salamandra Robotica II: An Amphibious Robot to Study Salamander-Like Swimming and Walking Gaits

Auke Ijspeert, Alessandro Crespi, André Guignard, Konstantinos Karakasiliotis

In this paper, we present Salamandra robotica II: an amphibious salamander robot that is able to walk and swim. The robot has four legs and an actuated spine that allow it to perform anguilliform swimming in water and walking on the ground. The paper first ...

Ieee-Inst Electrical Electronics Engineers Inc2013

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