Publications associées à Motion controller

Real-time Self-contact Retargeting of Avatars down to Finger Level

Ronan Boulic, Bruno Herbelin, Mathias Guy Delahaye

We interact with the world through a body that includes hands and fingers. Likewise, providing an avatar allowing the control of a virtual body with fingers is an important step to improve the user experience in VR. When the user and their avatar skeleton ...

The Eurographics Association2023

Microgravity induces overconfidence in perceptual decision-making

Leyla Loued-Khenissi, Davide Scaramuzza, Christian Pfeiffer

Does gravity affect decision-making? This question comes into sharp focus as plans for interplanetary human space missions solidify. In the framework of Bayesian brain theories, gravity encapsulates a strong prior, anchoring agents to a reference frame via ...

Nature Portfolio2023

Processing load, and not stimulus evidence, determines the duration of unconscious visual feature integration

Michael Herzog, Leila Drissi Daoudi - Kleinbauer, Lukas Vogelsang

Integration across space and time is essential for the analysis of motion, low contrast, and many more stimuli. A crucial question is what determines the duration of integration. Based on classical models of decision-making, one might expect that integrati ...

2023

Motion Planning and Inertia Based Control for Impact Aware Manipulation

Aude Billard, Harshit Khurana

In this paper, we propose a metric called hitting flux which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of ...

2023

Assessment of personal exposure to particle and gaseous air pollutants in residences and offices

Maria Viviana Gonzalez Serrano

Poor indoor air quality has been associated with health issues and decreased work performance. Personal exposure that takes place both in outdoor and indoor environments is the result of dy-namic processes and complex interactions between people and surrou ...

EPFL2023

From finger animation to full-body embodiment of avatars with different morphologies and proportions

Mathias Guy Delahaye

VR (Virtual Reality) is a real-time simulation that creates the subjective illusion of being in a virtual world. This thesis explores how integrating the user's body and fingers can be achieved and beneficial for the user to experience VR. At the advent of ...

EPFL2023

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

Dual-Arm Control for Coordinated Fast Grabbing and Tossing of an Object

Aude Billard, Michael Bosongo Bombile

Picking up objects to toss them on a conveyor belt are activities generated on a daily basis in the industry. These tasks are still done largely by humans. This paper proposes a unified motion generator for a bimanual robotic systems that enables two 7 deg ...

2022

Explanation of Optical Force and Torque on Nanomotors as the Interplay of Huygens Sources

Olivier Martin, Karim Achouri, Mintae Chung

Being able to understand how optical forces emerge from the interaction of light with matter is paramount for controlling the motion of nanoparticles as well as powering nanomotors. The purpose of this work is to uncover the physical mechanisms at the orig ...

IEEE2022

Steps parameters of elderly patients hospitalised for an acute medical illness in a Swiss University Hospital: an observational pilot study

Anisoara Ionescu, Francesco Tommasini

BACKGROUND: Objective mobility goals for elderly hospitalised medical patients remain debated. We therefore studied steps parameters of elderly patients hospitalised for an acute illness, to determine goals for future interventional trials and medical prac ...

SMW supporting association2022

Encoder-Decoder Models for Human Segmentation and Motion Analysis

Isinsu Katircioglu

Detecting people from 2D images and analyzing their motion in 3D have been long standing computer vision problems central to numerous applications such as autonomous driving and athletic training. Recently, with the availability of large amounts of trainin ...

EPFL2022

Real-Time Nonlinear Model Predictive Control for Fast Mechatronic Systems

Petr Listov

This thesis presents an efficient and extensible numerical software framework for real-time model-based control. We are motivated by complex and challenging mechatronic applications spanning from flight control of fixed-wing aircraft and thrust vector cont ...

EPFL2022

System for moving a patient

Charles Baur, Loïc Benoît Tissot-Daguette, Hubert Pierre-Marie Benoît Schneegans, Marine Chantal Elisabeth Geneviève Clogenson, Lisa Anaïs Jeanne Bonnefoy

The invention relates to a system (13) for moving a lying patient (P) from a first position to a second position according to a controlled motion comprising a back sheet, a front sheet, each comprising two lateral edges (L1, L2). The system (13) comprises ...

2022

Preventing Breaks in Embodiment in Immersive Virtual Reality

Thibault Serge Mario Porssut

Virtual reality (VR) is immersive not only because of visual integration, but because we can act and perform in a virtual environment (VE). Beyond the mere fact that a VR system provides images computed directly from the users' viewpoint in stereoscopy, it ...

EPFL2021

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

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

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

Optimal Thrust Vector Control of an Electric Small-Scale Rocket Prototype

Colin Neil Jones, Petr Listov, Roland Schwan

Recent advances in Model Predictive Control (MPC) algorithms and methodologies, combined with the surge of computational power of available embedded platforms, allows the use of real-time optimization-based control of fast mechatronic systems. This paper p ...

IEEE2022

Learning From Demonstration and Interactive Control of Variable-Impedance to Cut Soft Tissues

Aude Billard, Rui Wu

In this article, we propose an approach to extract variable-impedance during cutting tasks from human demonstrations, so as to ease soft-tissue cutting by robots. We model the dynamic adjustment of the human arm during interactions with the tissue and tran ...

2021

Analysis and Modeling of the Dynamics of Traction Forces during Cell Polarization and their Role in the Organization of Edge Activity

Zeno Messi

The capacity to break symmetry and organize activity to move directionally is a fundamental property of eukaryotic cells. To explain the organization of cell-edge activity, models commonly rely on front-to-back gradients of functional components or regulat ...

EPFL2021

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

Algorithms for Walking Speed Estimation Using a Lower-Back-Worn Inertial Sensor: A Cross-Validation on Speed Ranges

Kamiar Aminian, Anisoara Ionescu, Abolfazl Soltani

Walking/gait speed is a key measure for daily mobility characterization. To date, various studies have attempted to design algorithms to estimate walking speed using an inertial sensor worn on the lower back, which is considered as a proper location for ac ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021