Publications de Romain Pierre François Baud

INSPIIRE - A Modular and Passive Exoskeleton to Investigate Human Walking and Balance

Mohamed Bouri, Romain Pierre François Baud

Powered exoskeletons for SCI patients are mainly limited by their inability to balance dynamically during walking. To investigate and understand the control strategies of human bipedal locomotion, we developed INSPIIRE, a passive exoskeleton. This device c ...

IEEE2023

Bio-inspired standing balance controller for a full-mobilization exoskeleton

Mohamed Bouri, Romain Pierre François Baud, Jemina Fasola, Tristan Hubert Vouga

The invention concerns a method of performing automatic standing balance of a user in a full mobilization exoskeleton with at least a foot and using at least two actuated degrees of freedom, wherein a controller uses information provided from sensors to pr ...

2021

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

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

Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users

Mohamed Bouri, Auke Ijspeert, Romain Pierre François Baud, Jemina Fasola, Tristan Hubert Vouga

Several lower-limb exoskeletons enable overcoming obstacles that would impair daily activities of wheelchair users, such as going upstairs. Still, as most of the currently commercialized exoskeletons require the use of crutches, they prevent the user from ...

2020

Balance Control Strategies during Standing in a Locked-Ankle Passive Exoskeleton

Hannes Bleuler, Mohamed Bouri, Romain Pierre François Baud, Jemina Fasola, Tristan Hubert Vouga

This paper investigates sensorimotor adaptation strategies of sagittal postural control in healthy subjects under kinematic constraints. A passive exoskeleton named CAPTUR, with locked ankle joints and legs motion restrained to the sagittal plane is used t ...

IEEE2019

Bio-inspired standing balance controller for a full-mobilization exoskeleton

Mohamed Bouri, Auke Ijspeert, Romain Pierre François Baud, Jemina Fasola, Tristan Hubert Vouga

This paper presents a novel method to perform automatic standing balance in a full mobilization exoskeleton. It exploits the locked ankle and the curved foot sole of the exoskeleton TWIICE. The idea is to use the knees to roll the sole and change the posit ...

IEEE2019

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

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