Publications de Florin Dzeladini

Symbitron Exoskeleton: Design, Control, and Evaluation of a Modular Exoskeleton for Incomplete and Complete Spinal Cord Injured Individuals

Auke Ijspeert, Florin Dzeladini, Amy Roning Wu

In this paper, we present the design, control, and preliminary evaluation of the Symbitron exoskeleton, a lower limb modular exoskeleton developed for people with a spinal cord injury. The mechanical and electrical configuration and the controller can be p ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2021

Neuromuscular Controller Embedded in a Powered Ankle Exoskeleton: Effects on Gait, Clinical Features and Subjective Perspective of Incomplete Spinal Cord Injured Subjects

Auke Ijspeert, Florin Dzeladini

Powered exoskeletons are among the emerging technologies claiming to assist functional ambulation. The potential to adapt robotic assistance based on specific motor abilities of incomplete spinal cord injury (iSCI) subjects, is crucial to optimize Human-Ro ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2020

Development of a simulated transtibial amputee model

Auke Ijspeert, Florin Dzeladini, Ricardo Cesar Guerrero Ferreira, César José Cardoso Ferreira

Currently, there are more than 30 million amputees in the world and each year thousands of people suffer from amputation and, therefore, the development of lower limb prostheses is crucial to improve the quality of millions of people's lives by restoring t ...

IEEE2019

Neuromechanical simulation of human locomotion: descending modulation of spinal reflex parameters during speed changes

Auke Ijspeert, Florin Dzeladini, Andrea Di Russo, Anne Daniëlle Koelewijn

2019

Development of a Human Neuromuscular Balance Controller

Auke Ijspeert, Florin Dzeladini, Andrea Di Russo, Huawei Wang, Anne Daniëlle Koelewijn

2019

From bio-inspired locomotion models To controllers for lower-limb exoskeletons

Florin Dzeladini

Human locomotion shows fascinating abilities which are the results of the interplay between the environment, the biomechanics, the spinal cord, and modulation from higher control centers. How the different structures interact to generate meaningful behavio ...

EPFL2019

Combining a 3D Reflex Based Neuromuscular Model with a State Estimator Based on Central Pattern Generators

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

A neuromuscular model (NMC) presented by H. Geyer and extended by S. Song shows very interesting similarities with real human locomotion. The model uses a combination of reflex loops to generate stable locomotion and is able to cope with external disturban ...

Springer International Publishing Ag2017

Active stabilization of a stiff quadruped robot using local feedback

Auke Ijspeert, Florin Dzeladini, Tomislav Horvat, Kamilo Andres Melo Becerra, Mehmet Hasan Mutlu, Simon Lukas Hauser, Rui Vasconcelos

2017

A Versatile Neuromuscular Exoskeleton Controller for Gait Assistance: A Preliminary Study on Spinal Cord Injury Patients

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

We investigated the capabilities of a reflex-based neuromuscular controller with a knee and hip gait trainer worn by a subject with a complete spinal cord injury. With controller assistance, this subject was able to reach a walking speed of 1.0m/s. Measure ...

Springer Int Publishing Ag2017

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 Human Central Pattern Generator for Locomotion: Does It Exist and Contribute to Walking?

Auke Ijspeert, Florin Dzeladini, Karen Minassian

The ability of dedicated spinal circuits, referred to as central pattern generators (CPGs), to produce the basic rhythm and neural activation patterns underlying locomotion can be demonstrated under specific experimental conditions in reduced animal prepar ...

Sage Publications Inc2017

Effects of a neuromuscular controller on a powered ankle exoskeleton during human walking

Auke Ijspeert, Florin Dzeladini, Etienne Burdet, Arash Arami, Daniel Renjewski, Amy Roning Wu

Wearable devices to assist abnormal gaits require controllers that interact with the user in an intuitive and unobtrusive manner. To design such a controller, we investigated a bio-inspired walking controller for orthoses and prostheses. We present (i) a S ...

Ieee2016

Muscle activation variability is inversely correlated with walking speed

Auke Ijspeert, Florin Dzeladini, Amandine Grappe, Cole Stewart Simpson

Individuals with motor impairments typically walk at much slower speeds than their unimpaired counter- parts, yet their gait data is still evaluated against the relatively faster gait of healthy subjects. Therefore a good understanding of unimpaired gait a ...

Springer2016

Real-time full body motion imitation on the COMAN humanoid robot

Auke Ijspeert, Florin Dzeladini, Jesse van den Kieboom

On-line full body imitation with a humanoid robot standing on its own two feet requires simultaneously maintaining the balance and imitating the motion of the demonstrator. In this paper we present a method that allows real-time motion imitation while main ...

Cambridge Univ Press2015

A Neuromuscular Model for Symbiotic Man-Machine Exoskeleton Control Accounting for Patient Impairment Specificity

Auke Ijspeert, Florin Dzeladini, Etienne Burdet

Millions of people worldwide live with impaired locomotion. The degree of impairment is highly variable and the causes are multiple. This variation necessitates the design of a new generation of exoskeleton controllers for personalised, symbiotic man-machi ...

2014

The contribution of a central pattern generator in a reflex-based neuromuscular model

Auke Ijspeert, Florin Dzeladini, Jesse van den Kieboom

Although the concept of central pattern generators (CPGs) controlling locomotion in vertebrates is widely accepted, the presence of specialized CPGs in human locomotion is still a matter of debate. An interesting numerical model developed in the 90s' demon ...

Frontiers Research Foundation2014

Stable real-time full body motion imitation on the COMAN humanoid robot

Auke Ijspeert, Florin Dzeladini, Jesse van den Kieboom

On-line full body imitation with a humanoid robot standing on its own two feet requires simultaneously maintaining the balance and imitating the motion of the demonstrator. In this paper we present a method that allows real-time motion imitation while main ...

2013