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Publications associées (27)

Advancing the Adaptability of Compliant Robot Controllers for Exploration, Interaction, and Manipulation

Farshad Khadivar

As technology continues to evolve, robots are becoming an intrinsic part of our lives. While robots surpass human capabilities in precision and speed, they are far from matching humans' ability to adapt to unexpected changes. Humans can quickly and complia ...

EPFL2022

Review of control strategies for lower-limb exoskeletons to assist gait

Mohamed Bouri, Auke Ijspeert, Romain Pierre François Baud, Ali Reza Manzoori

Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a large range of control methods. The goal of this paper is to review and classify these control strategies, that determine how these devices interact with the user. Met ...

BioMed Central2021

Wearable Haptic Interfaces for Telerobotics

Vivek Ramachandran

Telerobotics is the process by which human operators control the movement of robots to achieve specific tasks. However, conventional control interfaces, such as joysticks and remote controllers, are not intuitive to use for novice users. Training to use th ...

EPFL2021

Control Strategies for Lower-limb Exoskeletons: from Full Mobilization to Assistance of Balance

Romain Pierre François Baud

Bipedal locomotion is a remarkable feature of humans. This skill is necessary for the activities of daily living. Unfortunately, many people only partially benefit from it or miss it entirely because of a disability. This may result in a slower gait, less ...

EPFL2020

Hand-worn Haptic Interface for Drone Teleoperation

Dario Floreano, Antoine Weber, Matteo Macchini, Fabrizio Schiano

Drone teleoperation is usually accomplished using remote radio controllers, devices that can be hard to master for inexperienced users. Moreover, the limited amount of information fed back to the user about the robot's state, often limited to vision, can r ...

2020

Exploring the Contribution of Proprioceptive Reflexes to Balance Control in Perturbed Standing

Auke Ijspeert, Anne Daniëlle Koelewijn

Humans control balance using different feedback loops involving the vestibular system, the visual system, and proprioception. In this article, we focus on proprioception and explore the contribution of reflexes based on force and length feedback to standin ...

FRONTIERS MEDIA SA2020

FCR: Fast and Consistent Controller-Replication in Software Defined Networking

Jean-Yves Le Boudec, Maaz Mashood Mohiuddin, Mia Primorac, Eleni Stai

We consider the problem of coordination among replicated SDN controllers, where the challenge is to ensure a consistent view of the network while reacting to network events in a prompt manner. Existing solutions are either consensus-based, which achieve co ...

2019

FOLDAWAY DroneSense, a controller for haptic information encoding for drone pilots

Jamie Paik, Stefano Mintchev, Marco Salerno

Over the last decade, the number of drones has significantly increased. In parallel, researchers have started to investigate new human-drone interaction paradigms for a more natural and immersive piloting experience. The use of haptic feedback to establish ...

2019

Haptic feedback perception and learning with cable-driven guidance in exosuit teleoperation of a simulated drone

Dario Floreano, Auke Ijspeert, Carine Rognon, Amy Roning Wu, Vivek Ramachandran

Robotics teleoperation enables human operators to control the movements of distally located robots. The development of new wearable interfaces as alternatives to hand-held controllers has created new modalities of control, which are more intuitive to use. ...

2019

Two-degrees-of-freedom (PID)-D-2 controller for precise nanopositioning in the presence of hardware-induced constant time delay

Andres San Millan Rodriguez

The fast and accurate tracking of periodic and arbitrary reference trajectories is the principal goal in many nanopositioning applications. Flexure-based piezoelectric stack driven nanopositioners are widely employed in applications where accurate mechanic ...

ELSEVIER SCIENCE INC2019

Wearable Technologies for Embodied Human-Robot Interaction

Carine Rognon

Robotic teleoperation is fundamental to augment the resilience, precision, and force of robots with the cognition of the operator. However, current interfaces, such as joysticks and remote controllers, are often complicated to handle since they require cog ...

EPFL2019

FlyJacket: An Upper Body Soft Exoskeleton for Immersive Drone Control

Dario Floreano, David Atienza Alonso, Carine Rognon, Alexandre Thierry Cherpillod, Fabio Isidoro Tiberio Dell'Agnola, Stefano Mintchev

Most human–drone interfaces, such as joysticks and remote controllers, require attention and developed skills during teleoperation. Wearable interfaces could enable a more natural and intuitive control of drones, which would make this technology accessible ...

2018

Multi-contact tactile exploration and interaction with unknown objects

Nicolas Sommer

Humans rely on the sense of touch in almost every aspect of daily life, whether to tie shoelaces, place fingertips on a computer keyboard or find keys inside a bag. With robots moving into human-centered environment, tactile exploration becomes more and mo ...

EPFL2017

Profile control simulations and experiments on TCV: a controller test environment and results using a model-based predictive controller

Timothy Goodman, Jean-Marc Moret, Olivier Sauter, Sun Hee Kim, Federico Alberto Alfredo Felici, Doohyun Kim, Antoine Pierre Emmanuel Alexis Merle, Anna Teplukhina, Cristian Galperti, Mengdi Kong, Francesco Carpanese, Donghyun Kim

The successful performance of a model predictive profile controller is demonstrated in simulations and experiments on the TCV tokamak, employing a profile controller test environment. Stable high-performance tokamak operation in hybrid and advanced plasma ...

IOP Publishing Ltd2017

An Adaptive Neuromuscular Controller for Assistive Lower-Limb Exoskeletons: A Preliminary Study on Subjects with Spinal Cord Injury

Auke Ijspeert, Florin Dzeladini, Amy Roning Wu, Tycho Jan Henricus Brug

Versatility is important for a wearable exoskeleton controller to be responsive to both the user and the environment. These characteristics are especially important for subjects with spinal cord injury (SCI), where active recruitment of their own neuromusc ...

Frontiers Research Foundation2017

The effects of haptic-virtual reality game therapy on brain-motor coordination for children with hemiplegia: A pilot study

Mohamed Bouri

Children with hemiplegia have movements' difficulties especially in their upper limbs, these difficulties occur due to the loss of the communication between the brain and the affected side of the body. In this study, visual, audio, and tactile stimulation ...

IEEE2017

Haptic-Enabled Handheld Mobile Robots: Design and Analysis

Francesco Mondada, Pierre Dillenbourg, Ayberk Özgür, Wafa Monia Benkaouar Johal

The Cellulo robots are small tangible robots that are designed to represent virtual interactive point-like objects that reside on a plane within carefully designed learning activities. In the context of these activities, our robots not only display autonom ...

ACM2017

Multi-contact haptic exploration and grasping with tactile sensors

Aude Billard, Nicolas Sommer

Haptic exploration has received a great deal of attention of late thanks to the variety of commercially available tactile sensors. While the majority of previous works consider control of a single contact point at a time, we tackle simultaneous control of ...

Elsevier2016

Wearable multimodal tactile interfaces for augmenting haptic perception

Simon Gallo

Haptic feedback has been used to faithfully restitute the haptic sense lacking during telemanipulation, but also for providing auxiliary information via the haptic channel to restore functional perception of missing or damaged senses, e.g. sensory substitu ...

EPFL2016

Design of a Switching Controller for Adaptive Disturbance Attenuation with Guaranteed Stability

Alireza Karimi

In this paper, a new algorithm is proposed for the design of a family of controllers to be used within an adaptive switching control scheme. The resulting switching controller is able to attenuate the effects of disturbances having uncertain and possibly t ...

2015

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