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Publications associées (86)

Oscillator-based Walking Assistance: a Model-free Approach

Auke Ijspeert, Jesse van den Kieboom, Renaud Ronsse

In this paper, we further develop our framework to design new assistance and rehabilitation protocols based on motor primitives. In particular, we extend our recent results of oscillator-based assistance to the case of walking. The adaptive oscillator used ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011

Contactless rotational concentric microviscometer

Peter Ryser, Eric Meurville, Sigfrid Straessler, Emeric Grandjean

We investigated the feasibility of a concentric rotational microviscometer which is actuated remotely. This type of sensor might find application in vivo as a passive implant. The heart of the sensor is a cylindrical rotor, actuated from a distance of up t ...

2011

Collision-Free Intersection Crossing of Mobile Robots Using Decentralized Navigation Functions on Predefined Paths

Denis Gillet, Laleh Makarem, Benjamin Fankhauser

This paper deals with the coordination of a group of mobile robots at an intersection. It focusses on decentralized navigation functions (DNFs) to achieve efficient traffic control. The main challenge is to define virtual potentials, which are used by dece ...

2011

Evaluation of a mixed approach combining stationary and wearable systems to monitor gait over long distance

Kamiar Aminian, Julien Favre, Xavier Crevoisier

Thanks to decades of research, gait analysis has become an efficient tool. However, mainly due to the price of the motion capture systems, standard gait laboratories have the capability to measure only a few consecutive steps of ground walking. Recently, w ...

Elsevier2010

iTUG, a Sensitive and Reliable Measure of Mobility

Kamiar Aminian, Arash Salarian

Timed Up and Go (TUG) test is a widely used clinical paradigm to evaluate balance and mobility. Although TUG includes several complex subcomponents, namely: sit-to-stand, gait, 180 degrees turn, and turn-to-sit; the only outcome is the total time to perfor ...

Institute of Electrical and Electronics Engineers2010

Bouncing between model and data: stability, passivity, and optimality in hybrid dynamics

Renaud Ronsse

Rhythmically bouncing a ball with a racket is a seemingly simple task, but it poses all the challenges critical for coordinative behavior: perceiving the ball’s trajectory to adapt position and velocity of the racket for the next ball contact. To gain insi ...

Heldref Publications2010

Nonlinear Stability of Riemann Ellipsoids with Symmetric Configurations

Using modern differential geometric methods, we study the relative equilibria for Dirichlet's model of a self-gravitating fluid mass having at least two equal axes. We show that the only relative equilibria of this type correspond to Riemann ellipsoids for ...

Springer-Verlag2009

Hybrid Control and Transport Using Bacteria-Driven Microbiorobots

Mahmut Selman Sakar

We are examining techniques for manipulation of microfabricated elements using arrays of bacteria as microactuators. Flagellated Serratia marcescens bacteria are attached to microstructures using a blotting technique that creates a bacterial monolayer carp ...

ASME2009

Optimal Data Fusion for Pedestrian Navigation based on UWB and MEMS

Bertrand Merminod

Indoor pedestrian navigation is probably a very challenging research area. In this context, an optimal data fusion filter that hybridises a large set of observations: angles of arrival (AOA), time differences of arrival (TDOA), accelerations, angular veloc ...

2008

Spherical pore replicated Microcellular Aluminium

Andreas Mortensen

A method is presented that extends the replication process for the manufacture of open-celled metallic foams to include foams with spherical cells. Such foams are produced to a wide range of relative densities, tested for mechanical behaviour and resistanc ...

Japan Institute of Metals, Sendai, Japan2007

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