Publications associées à Ward Leonard

A Proximal-Point Lagrangian-Based Parallelizable Nonconvex Solver for Bilinear Model Predictive Control

Colin Neil Jones, Yuning Jiang, Yingzhao Lian

Nonlinear model predictive control (NMPC) has been widely adopted to manipulate bilinear systems with dynamics that include products of the inputs and the states. These systems are ubiquitous in chemical processes, mechanical systems, and quantum physics, ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Investigating the neuromechanical control of healthy gait modulation and pathological gaits observed in cerebral palsy using neuromuscular simulations

Andrea Di Russo

Locomotion is based on a sophisticated interaction among the environment, the musculoskeletal system, the spinal cord, and the brain locomotor areas. Quality of life is strongly related to the proper capability of this movement. However, many pathologies, ...

EPFL2023

Engineering Hydrogel-coated Neural Interfaces for Chronic Deep Brain Recording

Noaf Salah Ali Alwahab

Implanted brain electrodes provide a unique way of electrically interfacing with individual neurons in vivo. However, chronic recording or stimulating capabilities of neural implants are often impaired by a strong immune response resulting in a fibrous sca ...

EPFL2023

Structured cerebellar connectivity supports resilient pattern separation

Ilaria Ricchi

The cerebellum is thought to help detect and correct errors between intended and executed commands(1,2) and is critical for social behaviours, cognition and emotion 3 Computations for motor control must be performed quicklyto correct errors in real time an ...

NATURE PORTFOLIO2023

Mechanical intelligence for learning embodied sensor-object relationships

Ahalya Prabhakar

Intelligence involves processing sensory experiences into representations useful for prediction. Understanding sensory experiences and building these contextual representations without prior knowledge of sensor models and environment is a challenging unsup ...

Nature Portfolio2022

Uncovering the neural substrates of communication between the brain and ventral nerve cord in Drosophila melanogaster (italic)

Florian Aymanns

Despite a long history of research in motor control, the exact mechanism of how the brain communicates with the the invertebrate ventral nerve cord (VNC) and the vertebrate spinal cord on a single neuron basis remains largely elusive. Drosophila melanogast ...

EPFL2022

Motor control: Neural correlates of optimal feedback control theory

Mackenzie Mathis, Steffen Schneider

Recent work is revealing neural correlates of a leading theory of motor control. By linking an elegant series of behavioral experiments with neural inactivation in macaques with computational models, a new study shows that premotor and parietal areas can b ...

CELL PRESS2021

Impaired reach-to-grasp kinematics in parkinsonian patients relates to dopamine-dependent, subthalamic beta bursts

Silvestro Micera, Matteo Vissani

Excessive beta-band oscillations in the subthalamic nucleus are key neural features of Parkinson's disease. Yet the distinctive contributions of beta low and high bands, their dependency on striatal dopamine, and their correlates with movement kinematics a ...

NATURE RESEARCH2021

A versatile robotic platform for the design of natural, three-dimensional reaching and grasping tasks in monkeys

Aude Billard, Silvestro Micera, Marco Capogrosso, Seyed Sina Mirrazavi Salehian, Sophie Marie Marthe Wurth, Marion Aimée Geneviève Badi-Dubois, Sara Conti

Objective. Translational studies on motor control and neurological disorders require detailed monitoring of sensorimotor components of natural limb movements in relevant animal models. However, available experimental tools do not provide a sufficiently ric ...

IOP PUBLISHING LTD2020

Experimental and Computational Study on Motor Control and Recovery After Stroke: Toward a Constructive Loop Between Experimental and Virtual Embodied Neuroscience

Auke Ijspeert, Silvestro Micera, Shravan Tata Ramalingasetty, Marc-Oliver Gewaltig, Emanuele Formento, Maria Pasquini, Egidio Falotico, Lorenzo Vannucci, Axel von Arnim, Emmanouil Angelidis, Alain Destexhe

Being able to replicate real experiments with computational simulations is a unique opportunity to refine and validate models with experimental data and redesign the experiments based on simulations. However, since it is technically demanding to model all ...

FRONTIERS MEDIA SA2020

Amplified engagement of prefrontal cortex during control of voluntary action in Tourette syndrome

Sophie Jacqueline Andrée Betka

Tourette syndrome is characterized by 'unvoluntary' tics, which are compulsive, yet often temporarily suppressible. The inferior frontal gyms is implicated in motor control, including inhibition of pre-potent actions through influences on downstream subcor ...

OXFORD UNIV PRESS2020

Functional imaging of rostrocaudal spinal activity during upper limb motor tasks

Dimitri Nestor Alice Van De Ville, Silvestro Micera, Nawal Noëlle Kinany, Roberto Martuzzi, Elvira Pirondini

The spinal cord is the main interface between the brain and the periphery. It notably plays a central role in motor control, as spinal motoneurons activate skeletal muscles involved in voluntary movements. Yet, the spinal mechanisms underlying human moveme ...

ACADEMIC PRESS INC ELSEVIER SCIENCE2019

Reverse engineering the motor control system

Berat Denizdurduran

Mammalian motor control is implemented by a combination of different networks and system, working coherently to plan the movement of the body or a limb and to execute this movement a dynamical environment. While it is believed that complex, voluntary movem ...

EPFL2019

Automated human-level diagnosis of dysgraphia using a consumer tablet

Pierre Dillenbourg, Thibault Lucien Christian Asselborn, Wafa Monia Benkaouar Johal, Lukasz Kidzinski, David Cohen, Thomas Dany Sylvain Gargot

The academic and behavioral progress of children is associated with the timely development of reading and writing skills. Dysgraphia, characterized as a handwriting learning disability, is usually associated with dyslexia, developmental coordination disord ...

2018

Configuration of electrical spinal cord stimulation through real-time processing of gait kinematics

Grégoire Courtine, Marco Capogrosso, Jocelyne Bloch, Eduardo Martin Moraud, Tomislav Milekovic, Pavel Musienko, Nikolaus Wenger, Fabien Bertrand Paul Wagner, Jérôme Gandar, Polina Shkorbatova, Natalia Pavlova

Epidural electrical stimulation (EES) of the spinal cord and real-time processing of gait kinematics are powerful methods for the study of locomotion and the improvement of motor control after injury or in neurological disorders. Here, we describe equipmen ...

2018

Can Daytime Napping Assist the Process of Skills Acquisition After Stroke?

Friedhelm Christoph Hummel, Winifried Backhaus

Acquisition and reacquisition of skills is a main pillar of functional recovery after stroke. Nighttime sleep has a positive influence on motor learning in healthy individuals, whereas the effect of daytime sleep on neuro-rehabilitative training and relear ...

2018

Hammering Does Not Fit Fitts' Law

Auke Ijspeert, Tadej Petric, Cole Stewart Simpson

While movement is essential to human wellbeing, we are still unable to reproduce the deftness and robustness of human movement in automatons or completely restore function to individuals with many types of motor impairment. To better understand how the hum ...

Frontiers Research Foundation2017

Distinct locomotor control and awareness in awake sleepwalkers

Olaf Blanke, Oliver Alan Kannape

Sleepwalkers’ complex nocturnal behaviors have inspired fictional characters from Shakespeare’s Lady Macbeth to Polidori’s Vampyre to Cesare, the homicidal somnambulist in The Cabinet of Dr Caligari. Yet although the underlying pathophysiology of sleepwalk ...

Elsevier2017

EEG topographies provide subject-specific correlates of motor control

Dimitri Nestor Alice Van De Ville, José del Rocio Millán Ruiz, Silvestro Micera, Elvira Pirondini, Martina Coscia, Jesús Minguillón Campos

Electroencephalography (EEG) of brain activity can be represented in terms of dynamically changing topographies (microstates). Notably, spontaneous brain activity recorded at rest can be characterized by four distinctive topographies. Despite their well-es ...

Nature Research2017

Upper limb cortical maps in amputees with targeted muscle and sensory reinnervation

Olaf Blanke, Andrea Serino, Wietske Van der Zwaag, Roy Salomon, Giulio Rognini, Roberto Martuzzi, Elisa Canzoneri, Michel Akselrod, Maria Laura Blefari

Neuroprosthetics research in amputee patients aims at developing new prostheses that move and feel like real limbs. Targeted muscle and sensory reinnervation (TMSR) is such an approach and consists of rerouting motor and sensory nerves from the residual li ...

Oxford University Press2017