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Algorithms for Walking Speed Estimation Using a Lower-Back-Worn Inertial Sensor: A Cross-Validation on Speed Ranges

Publications associées (36)

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From standing balance to walking: A single control structure for a continuum of gaits

Auke Ijspeert, Salman Faraji, Seyed Hamed Razavi

This article presents a control algorithm framework with which a bipedal robot can perform a variety of gaits by only modifying a small set of control parameters. The controller drives a number of variables, called non-emergent variables, to their desired ...

2019

Towards Robust Bipedal Locomotion

Salman Faraji

Thanks to better actuator technologies and control algorithms, humanoid robots to date can perform a wide range of locomotion activities outside lab environments. These robots face various control challenges like high dimensionality, contact switches durin ...

EPFL2018

Imprecise dynamic walking with time-projection control

Auke Ijspeert, Philippe Müllhaupt, Salman Faraji

We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions of the 3LP mode ...

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

3LP: a linear 3D-walking model including torso and swing dynamics

Auke Ijspeert, Salman Faraji

In this paper, we present a new mechanical model for biped locomotion, composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to a double support phase, this model has dif ...

Sage Publications Ltd2017

Effects of a neuromuscular controller on a powered ankle exoskeleton during human walking

Auke Ijspeert, Arash Arami, Etienne Burdet, Florin Dzeladini, Amy Roning Wu, Daniel Renjewski

Wearable devices to assist abnormal gaits require controllers that interact with the user in an intuitive and unobtrusive manner. To design such a controller, we investigated a bio-inspired walking controller for orthoses and prostheses. We present (i) a S ...

Ieee2016

The advent of experimental techniques for the time-course monitoring of gene expression at the single-cell level has paved the way to the model-based study of gene expression variability within- an across-cells. A number of approaches to the inference of m ...

2016

Validation methods for population models of gene expression dynamics

Giancarlo Ferrari Trecate

2016

A Bayesian Approach for Pervasive Estimation of Breaststroke Velocity Using a Wearable IMU

Kamiar Aminian, Grégoire Millet, Farzin Dadashi

An ubiquitous assessment of swimming velocity (main metric of the performance) is essential for the coach to provide a tailored feedback to the trainee. We present a probabilistic framework for the data-driven estimation of the swimming velocity at every c ...

Elsevier Science Bv2015

In developing partial least squares calibration models, selecting the number of latent variables used for their construction to minimize both model bias and model variance remains a challenge. Several metrics exist for incorporating these trade-offs, but t ...

Wiley-Blackwell2015