Concept

Forward kinematics

Publications associées (168)

Neurophysiological underpinnings of an intensive protocol for upper limb motor recovery in subacute and chronic stroke patients

Silvestro Micera, Matteo Vissani, Michael Lassi

ABS T R A C T BACKGROUND: Upper limb (UL) motor impairment following stroke is a leading cause of functional limitations in activities of daily living. Robot-assisted therapy supports rehabilitation, but how its efficacy and the underlying neural mechanism ...

Turin2023

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Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to livin ...

2023

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

2023

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Objective. Studying the neural components regulating movement in human locomotion is obstructed by the inability to perform invasive experimental recording in the human neural circuits. Neuromechanical simulations can provide insights by modeling the locom ...

Bristol2023

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Josephine Anna Eleanor Hughes, Francesco Stella, Qinghua Guan

Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...

IEEE2023

The observation of cracks in normally functioning reinforced concrete (RC) structures is expected as the tensile strength of concrete is relatively low. However, one or more of those cracks can start to propagate with increasing crack openings, localizing ...

2023

The effects of kinematics, flexibility, and planform on the vortex formation and aerodynamic performance of flapping wing flight

Alexander Gehrke

In this thesis, the aerodynamic challenges in flapping wing flight are addressed.In particular, the effects of different wing kinematics, flexibilities, and planforms on the the leading edge vortex development and aerodynamic performance are investigated.I ...

EPFL2023

From finger animation to full-body embodiment of avatars with different morphologies and proportions

Mathias Guy Delahaye

VR (Virtual Reality) is a real-time simulation that creates the subjective illusion of being in a virtual world.This thesis explores how integrating the user's body and fingers can be achieved and beneficial for the user to experience VR.At the advent of V ...

EPFL2023

Neural Joint Space Implicit Signed Distance Functions for Reactive Robot Manipulator Control

Aude Billard, Mikhail Koptev, Nadia Barbara Figueroa Fernandez

In this paper, we present an approach for learning a neural implicit signed distance function expressed in joint space coordinates, that efficiently computes distance-to-collisions for arbitrary robotic manipulator configurations. Computing such distances ...

2022

Does anodal cerebellar tDCS boost transfer of after-effects from throwing to pointing during prism adaptation?

Lisa Aïcha Mireille Julie Fleury

Prism Adaptation (PA) is a useful method to study the mechanisms of sensorimotor adaptation. After-effects following adaptation to the prismatic deviation constitute the probe that adaptive mechanisms occurred, and current evidence suggests an involvement ...

FRONTIERS MEDIA SA2022

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