Publications de Amalric Louis Ortlieb

Bio-inspired adaptive impedance based controller for human-robot interaction and method

Mohamed Bouri, Amalric Louis Ortlieb, Peter Lichard, Benoît Walter Denkinger, Tommaso Tracchia

The method for controlling a single- or multi- powered robotic system, such as an exoskeleton, a prosthesis or a collaborative robot, that is physically interacting with a user, said system comprising at least one actuated joint; wherein the robot joint(s) ...

2020

Exoskeletons as Mechatronic Design Example

Hannes Bleuler, Mohamed Bouri, Solaiman Shokur, Jeremy Olivier, Amalric Louis Ortlieb, Romain Pierre François Baud, Jemina Fasola, Tristan Hubert Vouga

Exoskeletons are a perfect example of a mechatronics product. They illustrate the close integration and interdependence of mechanical design, drive train, sensors, control strategy and user interface. Recent developments of our lab will be discussed in det ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

Wearable exoskeletons to support ambulation in people with neuromuscular diseases, design rules and control

Amalric Louis Ortlieb

Neuromuscular diseases are degenerative and, thus far, incurable disorders that lead to large muscle wasting. They result in constant deterioration of activities of daily living and in particular of ambulation. Some common types include Duchenne muscular d ...

EPFL2019

HiBSO Hip Exoskeleton: Toward a Wearable and Autonomous Design

Hannes Bleuler, Mohamed Bouri, Amalric Louis Ortlieb, Jonathan Olivier, Romain Pierre François Baud

HiBSO is an active orthosis designed to assist the hip flexion-extension of the elderly. A fully autonomous system with untethered power electronics and energy supply is now available. Going beyond the restricted walking conditions of a treadmill unveils m ...

SPRINGER INTERNATIONAL PUBLISHING AG2018

Modular and minimally constraining lower limb exoskeleton for enhanced mobility and balance augmentation

Mohamed Bouri, Amalric Louis Ortlieb

In one embodiment, the exoskeleton structure is fastened to the body of the user by a brace and at the foot level. The exoskeleton includes at least one set of three joints corresponding to the hip abduction/adduction, the hip flexion/extension and the kne ...

2018

Influence of an Assistive Hip Orthosis on Gait

Hannes Bleuler, Mohamed Bouri, Jeremy Olivier, Amalric Louis Ortlieb

Powered orthoses are leading to an imminent change in the field of assistance. The major challenges faced by the technology concern the management of the interaction between the user and the wearable device and the coordination between the user intention a ...

Springer International Publishing Ag2017

AUTONOMYO: Design Challenges of Lower Limb Assistive Device for Elderly People, Multiple Sclerosis and Neuromuscular Diseases

Hannes Bleuler, Mohamed Bouri, Amalric Louis Ortlieb

Lower limb wearable robotics also known as exoskeleton or power suit is a booming field of research. Potential medical applications cover a large range of gait disorders from rehabilitation to assistance in daily mobility. Surprisingly, or not, paraplegia ...

Springer Int Publishing Ag2017

Series Elastic Actuation for Assistive Orthotic Devices: Case Study of Pneumatic Actuator

Hannes Bleuler, Mohamed Bouri, Amalric Louis Ortlieb, Jonathan Olivier

Wearable assistive robotics is a modern field where intelligent actuated systems work in collaboration with the body to replace a lost limb, to enhance performances (e.g. carrying load, walking, running, jumping) or to train or rehabilitate specific activi ...

Springer-Verlag Berlin2016

A Ball-Screw Driven Motorized Hip Orthosis

Hannes Bleuler, Reymond Clavel, Mohamed Bouri, Jeremy Olivier, Amalric Louis Ortlieb

In this paper we present a motorized hip orthosis to assist elderly people while walking, stair climbing and during the sit-to-stand transitions. The design is based on biomechanics considerations. Ranges of motion, velocities and torques of the hip joint ...

2014

Mechanisms for actuated assistive hip orthoses

Hannes Bleuler, Mohamed Bouri, Jeremy Olivier, Amalric Louis Ortlieb

Mobility is often a central problem for people having muscle weaknesses. The need for new devices to assist walking and walk related activities is therefore growing. Lower limb actuated orthoses have already proven their positive impact with paraplegic pat ...

Elsevier2014

Development of an Assistive Motorized Hip Orthosis

Hannes Bleuler, Reymond Clavel, Mohamed Bouri, Jeremy Olivier, Amalric Louis Ortlieb

With the increase of life expectancy, a higher number of elderly need assistance to maintain their mobility and their independance. The hip joint is crucial for walking and is problematic for a large number of aged people. In this paper we present a novel ...

2013