Related papers: Emulating Human Kinematic Behavior on Lower-Limb P…
This paper presents an active stabilization method for a fully actuated lower-limb exoskeleton. The method was tested on the exoskeleton ATALANTE, which was designed and built by the French start-up company Wandercraft. The main objective…
Despite decades of research and development, myoelectric prosthetic hands lack functionality and are often rejected by users. This lack in functionality can be partially attributed to the widely accepted anthropomorphic design ideology in…
Robust and energy-efficient bipedal locomotion in robotics is still a challenging topic. In order to address issues in this field, we can take inspiration from nature, by studying human locomotion. The Spring-Loaded Inverted Pendulum (SLIP)…
In this paper, we present a new model of biped locomotion which is 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 double support, this model has…
Using lower-limbs exoskeletons provides potential advantages in terms of productivity and safety associated with reduced stress. However, complex issues in human-robot interaction are still open, such as the physiological effects of…
We present a highly functional and cost-effective prosthesis for transfemoral amputees that uses series elastic actuators. These actuators allow for accurate force control, low impedance and large dynamic range. The design involves one…
Balance loss is a significant challenge in lower-limb exoskeleton applications, as it can lead to potential falls, thereby impacting user safety and confidence. We introduce a control framework for omnidirectional recovery step planning by…
This paper presents a Non-Linear Model Predictive Controller for humanoid robot locomotion with online step adjustment capabilities. The proposed controller considers the Centroidal Dynamics of the system to compute the desired contact…
This study presents a powered transtibial prosthesis with complete push-off assistance, RoboANKLE. The design aims to fulfill specific requirements, such as a sufficient range of motion (RoM) while providing the necessary torque for…
Exoskeletons play a crucial role in assisting patients with varying mobility levels during rehabilitation. However, existing control strategies face challenges such as imprecise trajectory tracking, interaction torque oscillations, and…
Many people suffer from the loss of a limb. Learning to get by without an arm or hand can be very challenging, and existing prostheses do not yet fulfil the needs of individuals with amputations. One promising solution is to provide greater…
Passive dynamic walkers are widely adopted as a mathematical model to represent biped walking. The stable locomotion of these models is limited to tilted surfaces, requiring gravitational energy. Various techniques, such as actuation…
This manuscript presents control of a high-DOF fully actuated lower-limb exoskeleton for paraplegic individuals. The key novelty is the ability for the user to walk without the use of crutches or other external means of stabilization. We…
Powered prostheses are capable of providing net positive work to amputees and have advanced in the past two decades. However, reducing amputee metabolic cost of walking remains an open problem. The Law of Intersegmental Coordination (ISC)…
We propose in this paper Periodic Interaction Primitives - a probabilistic framework that can be used to learn compact models of periodic behavior. Our approach extends existing formulations of Interaction Primitives to periodic movement…
In this work, we introduce a control framework that combines model-based footstep planning with Reinforcement Learning (RL), leveraging desired footstep patterns derived from the Linear Inverted Pendulum (LIP) dynamics. Utilizing the LIP…
Precise and elegant coordination of a prosthesis across many degrees of freedom represents a significant challenge to efficient rehabilitation of people with limb deficiency. Processing the electrical neural signals, collected from the…
Developing exoskeleton controllers that generalize across diverse locomotor conditions typically requires extensive motion-capture data and biomechanical labeling, limiting scalability beyond instrumented laboratory settings. Here, we…
Despite decades of study, many unknowns exist about the mechanisms governing human locomotion. Current models and motor control theories can only partially capture the phenomenon. This may be a major cause of the reduced efficacy of lower…
Age-related mobility decline is frequently accompanied by a redistribution of joint kinetics, where older adults compensate for reduced ankle function by increasing demand on the hip. Paradoxically, this compensatory shift typically…