Publications de Jessica Lanini

Human-Human, Human-Robot and Robot-Robot Interaction While Walking: Data Analysis, Modelling and Control

In everyday life humans perform many tasks with other partners which involve coordination, involuntary communication and mutual control adaptation, as the case of carrying objects together with another person. Humanoid robots may help with such activities ...

EPFL2019

Human Intention Detection as a Multiclass Classification Problem: Application in Physical Human-Robot Interaction While Walking

Auke Ijspeert, Seyed Hamed Razavi, Jessica Lanini

2018

Interactive locomotion: Investigation and modeling of physically-paired humans while walking

Auke Ijspeert, Seyed Hamed Razavi, Jessica Lanini

In spite of extensive studies on human walking, less research has been conducted on human walking gait adaptation during interaction with another human. In this paper, we study a particular case of interactive locomotion where two humans carry a rigid obje ...

Public Library of Science2017

Interactive Locomotion of Mechanically Coupled Bipedal Agents: Modeling and Experiments

Auke Ijspeert, Jessica Lanini

This paper investigates the interactive locomotion for physically coupled bipedal agents using a human-human object carrying experiment and a simple mathematical model. The model is based on the Spring Loaded Inverted Pendulum (SLIP) and on the assumption ...

Springer International Publishing Ag2017

A multidirectional gravity-assist algorithm that enhances locomotor control in patients with stroke or spinal cord injury

Auke Ijspeert, Grégoire Courtine, Marco Capogrosso, Jocelyne Bloch, Selin Anil, Joachim von Zitzewitz, Nicolas Francis Fumeaux, Jessica Lanini, Rubia van den Brand, Jean-Baptiste Mignardot

Gait recovery after neurological disorders requires remastering the interplay between body mechanics and gravitational forces. Despite the importance of gravity-dependent gait interactions and active participation for promoting this learning, these essenti ...

Amer Assoc Advancement Science2017