Concept

Forward kinematics

Publications associées (168)

Pre-Impact Fall Detection: Optimal Sensor Positioning Based on a Machine Learning Paradigm

The aim of this study was to identify the best subset of body segments that provides for a rapid and reliable detection of the transition from steady walking to a slipping event. Fifteen healthy young subjects managed unexpected perturbations during walkin ...

Public Library Science2014

Outcome of Unilateral Ankle Arthrodesis and Total Ankle Replacement in Terms of Bilateral Gait Mechanics, Journal of Orthopaedic Research, in Press

Kamiar Aminian, Xavier Crevoisier, Hossein Rouhani

Previous studies assessed the outcome of ankle arthrodesis (AA) and total ankle replacement (TAR) surgeries; however, the extent of postoperative recovery towards bilateral gait mechanics (BGM) is unknown. We evaluated the outcome of the two surgeries at l ...

Wiley-Blackwell2014

Quadrupedal locomotion using hierarchical operational space control

Roland Siegwart, Marco Hutter

This paper presents the application of operational space control based on hierarchical task optimization for quadrupedal locomotion. We show how the behavior of a complex robotic machine can be described by a simple set of least squares problems with diffe ...

2014

Cognitive Loading Affects Motor Awareness and Movement Kinematics but Not Locomotor Trajectories during Goal-Directed Walking in a Virtual Reality Environment

Kamiar Aminian, Olaf Blanke, Oliver Alan Kannape, Arnaud Barré

The primary purpose of this study was to investigate the effects of cognitive loading on movement kinematics and trajectory formation during goal-directed walking in a virtual reality (VR) environment. The secondary objective was to measure how participant ...

Public Library of Science2014

Implantable and wearable measurement system for smart knee prosthesis

Kamiar Aminian, Philippe Renaud, Arash Arami, David Forchelet

In this work we present the implantable and wearable measurement system developed for smart knee prostheses monitoring. The kinematic measurement system contains three anisotropic magnetoresistive sensors embedded into the polyethylene part of the prosthes ...

IEEE2014

CAMEA: Simulations and Kinematic Calculations

During the design of CAMEA extensive simulations and cinematic calculations were performed to explore the waste parameter space. These have led to a far better understanding of the instrument performance as well as new ideas to improve the instrument. Many ...

2014

Design and integration of an instrumented knee prosthesis

Matteo Simoncini

Total knee arthroplasty is nowadays one of the most important orthopedic surgery. It consists of a procedure in which parts of the knee are replaced by a prosthesis. The largest indication for total knee arthroplasty is osteoarthritis, a knee disease that ...

EPFL2014

A hierarchical detection framework for computational contact mechanics

Jean-François Molinari, Alejandro Marcos Aragon

A novel methodology consisting of three hierarchical levels is proposed for the detection phase of contact mechanics simulations. The top level of the hierarchy uses kinematic information from the objects involved in the simulation to determine approximate ...

Elsevier2014

Compute-and-forward for discrete memoryless networks

Michael Christoph Gastpar

Consider a receiver that observes multiple interfering codewords. The compute-and-forward technique makes it possible for the receiver to directly decode linear combinations of the codewords. Previous work has focused on compute-and-forward for linear Gaus ...

2014

A Minimal Set of Coordinates for Describing Humanoid Shoulder Motion

Alexandre Terrier, Alain Farron, Christoph Anselm Engelhardt, David Ingram

The kinematics of the anatomical shoulder are analysed and modelled as a parallel mechanism similar to a Stewart platform. A new method is proposed to describe the shoulder kinematics with minimal coordinates and solve the indeterminacy. The minimal coordi ...

Ieee2013

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