Oussama Bey — accepted AI-conference papers

2026

Adaptive Control Strategy for Ankle Assistance Using an Actuated Ankle-Foot Orthosis With Selective Adaptive Parameter Convergence

Rami Jradi, Oussama Bey, Hala Rifaï, Yacine Amirat, Samer Mohammed

RA-L 2026

Neuro-muscular injuries affecting the peroneal nerve or ankle joint dorsiflexor muscles can lead to foot-drop (FD), characterized by a difficulty in dorsiflexing the ankle during the gait. This paper introduces mid- and low-level control strategies for providing an adaptive torque assistance at the

Cited by 1 Source ↗Scholar ↗

2024

A Novel Funnel-Based L1 Adaptive Fuzzy Approach for the Control Of An Actuated Ankle Foot Orthosis

Oussama Bey, Rami Jradi, Huiseok Moon, Hala Rifaï, Kaushik Das Sharma, Yacine Amirat +1

ICRA 2024poster

This paper introduces a novel funnel-based adaptive {{\mathcal{L}}_1}{{\mathcal{L}}_1} fuzzy control strategy for assisting ankle joint movement during walking with the use of an actuated ankle foot orthosis (AAFO). A projection-based adaptation mechanism employing a fuzzy system is used to estimate…

Cited by 6 Source ↗Scholar ↗