Publication
Neuromuscular Controller Embedded in a Powered Ankle Exoskeleton: Effects on Gait, Clinical Features and Subjective Perspective of Incomplete Spinal Cord Injured Subjects
Publications associées (64)
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Locomotion is based on a sophisticated interaction among the environment, the musculoskeletal system, the spinal cord, and the brain locomotor areas. Quality of life is strongly related to the proper capability of this movement. However, many pathologies, ...
EPFL2023Neuromechanical Simulations of Animats with Decentralised Control
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The transition from aquatic to terrestrial environments represents a significant event in the history of evolution. For this transition to occur, animals had to adapt their morphology, physiology and locomotory skills to handle the challenges and interacti ...
EPFL2023Immediate effect of ankle exoskeleton on spatiotemporal parameters and center of pressure trajectory after stroke
Silvestro Micera, Mohamed Bouri, Solaiman Shokur, Mouhamed Zorkot
Gait impairments is a common condition in post-stroke subjects. We recently presented a wearable ankle exoskeleton called G-Exos, which showed that the device assisted in the ankle's dorsiflexion and inversion/reversion movements. The aim of the current pi ...
New York2023A robust walking detection algorithm using a single foot-worn inertial sensor: validation in real-life settings
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Walking activity and gait parameters are considered among the most relevant mobility-related parameters. Currently, gait assessments have been mainly analyzed in laboratory or hospital settings, which only partially reflect usual performance (i.e., real wo ...
SPRINGER HEIDELBERG2023Symbitron Exoskeleton: Design, Control, and Evaluation of a Modular Exoskeleton for Incomplete and Complete Spinal Cord Injured Individuals
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In this paper, we present the design, control, and preliminary evaluation of the Symbitron exoskeleton, a lower limb modular exoskeleton developed for people with a spinal cord injury. The mechanical and electrical configuration and the controller can be p ...
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Quantification of mobility is the key to monitor the progression of mobility disorders as well as the effect of an intervention. Inertial measurement units (IMUs) with dedicated algorithms can quantify postural transitions and gait as the two key aspects o ...
EPFL2021Comparison of Laboratory and Daily-Life Gait Speed Assessment during ON and OFF States in Parkinson’s Disease
Accurate assessment of Parkinson’s disease (PD) ON and OFF states in the usual environment is essential for tailoring optimal treatments. Wearables facilitate measurements of gait in novel and unsupervised environments; however, differences between unsupe ...
2021A unified framework for walking and running of bipedal robots
Ludovic Righetti, Elham Daneshmand
In this paper, we propose a novel framework capable of generating various walking and running gaits for bipedal robots. The main goal is to relax the fixed center of mass (CoM) height assumption of the linear inverted pendulum model (LIPM) and generate a w ...
IEEE2021Algorithms for Walking Speed Estimation Using a Lower-Back-Worn Inertial Sensor: A Cross-Validation on Speed Ranges
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Walking/gait speed is a key measure for daily mobility characterization. To date, various studies have attempted to design algorithms to estimate walking speed using an inertial sensor worn on the lower back, which is considered as a proper location for ac ...
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021Amphibious and Sprawling Locomotion: From Biology to Robotics and Back
A milestone in vertebrate evolution, the transition from water to land, owes its success to the development of a sprawling body plan that enabled an amphibious lifestyle. The body, originally adapted for swimming, evolved to benefit from limbs that enhance ...
2020