Publications de Auke Ijspeert | EPFL Graph Search

Velocity Potential Field Modulation for Dense Coordination of Polytopic Swarms and Its Application to Assistive Robotic Furniture

Institute of Electrical and Electronics Engineers (IEEE)2025

Using deep reinforcement learning to investigate stretch feedback during swimming of the lamprey

Animals have to navigate complex environments and perform intricate swimming maneuvers in the real world. To conquer these challenges, animals evolved a variety of motion control strategies. While it is known that many factors contribute to motion control, ...

IOP Publishing Ltd2025

Adaptive Negative Damping Control for User-Dependent Multi-Terrain Walking Assistance With a Hip Exoskeleton

Auke Ijspeert, Mohamed Bouri, Giulia Ramella

Hip exoskeletons are known for their versatility in assisting users across varied scenarios. However, current assistive strategies often lack the flexibility to accommodate for individual walking patterns and adapt to diverse locomotion environments. In th ...

IEEE2025

A neuromechanics solution for adjustable robot compliance and accuracy

Auke Ijspeert, Grégoire Courtine

Robots have to adjust their motor behavior to changing environments and variable task requirements to successfully operate in the real world and physically interact with humans. Thus, robotics strives to enable a broad spectrum of adjustable motor behavior ...

AMER ASSOC ADVANCEMENT SCIENCE2025

A smoothed particle hydrodynamics framework for fluid simulation in robotics

Auke Ijspeert, Alessandro Crespi, Jonathan Patrick Arreguit O'Neill

Simulation is a core component of robotics workflows that can shed light on the complex interplay between a physical body, the environment and sensory feedback mechanisms in silico. To this goal several simulation methods, originating in rigid body dynamic ...

Elsevier2025

Multisensory feedback makes swimming circuits robust against spinal transection and enables terrestrial crawling in elongate fish

Auke Ijspeert, Laura Isabel Paez Coy

Vertebrate locomotion is due to the interplay of neural oscillators and sensory feedback loops in the spinal cord that interact with the body and the environment. Here, we study these circuits with a focus on undulatory locomotion as produced by elongated ...

Proceedings of the National Academy of Sciences2025

Assessing Balance During Gait with a Lower Limb Exoskeleton

Auke Ijspeert, Mohamed Bouri

Maintaining balance is a critical aspect of human gait, especially for individuals with balance deficiencies. Accurate assessment and monitoring of balance are essential to reduce the risk of falls and improve mobility outcomes. Individuals with balance im ...

Springer Nature Switzerland2025

Augmenting rehabilitation robotics with spinal cord neuromodulation: A proof of concept

Auke Ijspeert, Grégoire Courtine, Jocelyne Bloch, Léonie Asboth, Robin Jonathan Demesmaeker, Miroslav Caban, Nicolas Hankov, Henri Charles Alexandre Lorach, Fabien Bertrand Paul Wagner, Salif Axel Komi

Rehabilitation robotics aims to promote activity-dependent reorganization of the nervous system. However, people with paralysis cannot generate sufficient activity during robot-assisted rehabilitation and, consequently, do not benefit from these therapies. ...

AMER ASSOC ADVANCEMENT SCIENCE2025

Role and modulation of various spinal pathways for human upper limb control in different gravity conditions

Auke Ijspeert, Grégoire Courtine

Humans can perform movements in various physical environments and positions (corresponding to different experienced gravity), requiring the interaction of the musculoskeletal system, the neural system and the external environment. The neural system is itse ...

2025

Adaptive hip exoskeleton control using heart rate feedback reduces oxygen cost during ecological locomotion

Auke Ijspeert, Mohamed Bouri, Ali Reza Manzoori

Despite their potential, exoskeletons have not reached widespread adoption in daily life, partly due to the challenge of seamlessly adapting assistance across various tasks and environments. Task-specific designs, reliance on complex sensing and extensive ...

Nature Research2025