Sylvain Finet

Towards Restoring Locomotion for Paraplegics: Realizing Dynamically Stable Walking on Exoskeletons

This paper presents the first experimental results of crutch-less dynamic walking with paraplegics on a lower-body exoskeleton: ATALANTE, designed by the French start-up company Wandercraft. The methodology used to achieve these results is based on the partial hybrid zero dynamics (PHZD) framework f…