9 accepted papers
Lower-limb exoskeletons are wearable devices whose main purposes are human rehabilitation and bilateral locomotion assistance. In particular, there is a growing interest for their use to symmetrize the gait of hemiparetic patients. This often consists in using the kinematics of the less affected sid…
Lower-limb exoskeletons are robotic devices that can provide assistance to human locomotion. Since they are expected to be used in ecological environments, their control strategy should handle different kinds of daily-life situations. Taking inspiration from the human neuromuscular system - and part…
Parkinson's disease is a severe neurodegenerative disorder that affects sensorimotor control. In particular, several gait impairments are reported, including a decrease of long-range autocorrelations in stride duration time series. This complex statistics is potentially a biomarker of the risk of fa…
Powered prostheses hold promises to restore adaptive and robust locomotion to lower-limb amputees. However, their daily use is still challenged by several shortcomings, on top of which those related to their control methods. This letter reports the development of an adaptive controller for a transfe
Vision-based systems for terrain detection are ubiquitous in mobile robotics, while such systems recently emerged for locomotion assistance of disabled people. For instance, wearable devices embedding vision sensors can assist people in navigation; or guide lower-limb prosthesis or exoskeleton contr…
To increase the autonomy of humanoid robots, the visual perception must support the efficient collection and interpretation of visual scene cues by providing task-dependent information. Active vision systems allow to extend the observable workspace by employing active gaze control, i.e. by shifting…
Controllers based on neuromuscular models hold the promise of energy-efficient and human-like walkers. However, most of them rely on optimizations or cumbersome hand-tuning to find controller parameters which, in turn, are usually working for a specific gait or forward speed only. Consequently, desi…
Bipedal walking with humanoid robots requires efficient real-time control. Nowadays, most bipedal robots require to ensure local stability at every instant in time, preventing them from achieving the impressive human walking skills. At the same time, bio-inspired walking controllers are emerging, th…
Recent studies showed that Continuously Variable Transmissions (CVT) and Infinitely Variable Transmissions (IVT) can considerably improve the locomotion efficiency in legged robot. A CVT is a transmission whose ratio can be continuously varied and an IVT is a transmission whose ratio can be continuo…