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

Non-invasive spinal cord electrical stimulation for arm and hand function in chronic tetraplegia: a safety and efficacy trial

Grégoire Courtine, Jordan Squair, Markus Maximilian Rieger

Cervical spinal cord injury (SCI) leads to permanent impairment of arm and hand functions. Here we conducted a prospective, single-arm, multicenter, open-label, non-significant risk trial that evaluated the safety and efficacy of ARCEX Therapy to improve a ...

Nature Portfolio2024

Educational Soft Underwater Robot with an Electromagnetic Actuation

Robert Marius Hennig

As demonstrated by the Soft Robotics Toolkit Platform, compliant robotics pose an exciting educational opportunity. Underwater robotics using soft undulating fins is an expansive research topic with applications such as exploration of underwater life or re ...

Mary Ann Liebert, Inc2024

Additively manufactured stretchable zipping electrostatic actuators

Giulio Grasso

The use of soft and stretchable materials allows the development of adaptive robotic systems and human-machine interfaces that are more natural and comfortable to interact with. One of the application fields that benefits the most from these compliant mate ...

EPFL2024

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Kevin Andrew Holdcroft

Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

EPFL2024

Puppeteer and Marionette: Learning Anticipatory Quadrupedal Locomotion Based on Interactions of a Central Pattern Generator and Supraspinal Drive

Auke Ijspeert, Milad Shafiee Ashtiani, Guillaume Denis Antoine Bellegarda

Quadruped animal locomotion emerges from the interactions between the spinal central pattern generator (CPG), sensory feedback, and supraspinal drive signals from the brain. Computational models of CPGs have been widely used for investigating the spinal co ...

IEEE2023

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

Closed-Loop Control of Epidural Electrical Stimulation in Patients with Spinal Cord Injury and Parkinson's Disease

Nicolò Macellari

Over the past two decades, epidural electrical stimulation (EES) has transitioned from a treatment for chronic pain to a promising paradigm for ameliorating deficits associated with neurological disorders like spinal cord injury (SCI) and Parkinson's Disea ...

EPFL2023

Dynamic control of high-voltage actuator arrays by light-pattern projection on photoconductive switches

Herbert Shea, Amir Firouzeh, Vesna Bacheva, Edouard Franck Vincent Gustave Leroy, Aiste Balciunaite

The ability to control high-voltage actuator arrays relies, to date, on expensive microelectronic processes or on individual wiring of each actuator to a single off-chip high-voltage switch. Here we present an alternative approach that uses on-chip photoco ...

SPRINGERNATURE2023

A digital bridge between brain and spinal cord restores walking after paralysis

Grégoire Courtine, Jocelyne Bloch

Spinal-cord injury interrupts communication between the brain and spinal cord, leading to paralysis. An implant that decodes the brain signals that control movements and drives electrical stimulation of the spinal cord re-establishes this communication, en ...

NATURE PORTFOLIO2023

Brain-controlled spinal cord stimulation to restore mobility after spinal cord injury

Carmina Andrea Galvez Solano

Spinal Cord Injury (SCI) affects almost 500,000 people every year, causing complete paralysis of both legs in severe cases, with no current treatment perspective. However, new neuroengineering technologies, such as the Brain Spine Interface (BSI), have eme ...

EPFL2023

Walking naturally after spinal cord injury using a brain-spine interface

Léonie Asboth, Salif Axel Komi, Grégoire Courtine, Robin Jonathan Demesmaeker, Félix Antoine Martel, Laure Coquoz, Jocelyne Bloch, Anne Marie Lucienne Watrin, Sergio Daniel Hernandez, Henri Charles Alexandre Lorach, Edeny Baaklini, Jimmy James Ravier, Molywan Vat, Carmina Andrea Galvez Solano, Cathal John Harte, Valeria Spagnolo, Grégory Didier Dumont, Thibault Jean Etienne Collin, Icare Sakr, Lucas Struber

A spinal cord injury interrupts the communication between the brain and the region of the spinal cord that produces walking, leading to paralysis(1,2). Here, we restored this communication with a digital bridge between the brain and spinal cord that enable ...

NATURE PORTFOLIO2023

Improving hand prosthesis control with advanced single-finger proportional decoding and robotic shared control

Vincent Alexandre Mendez

Myoelectric prostheses allow users to recover lost functionality by controlling a robotic device with their remaining muscle activity. Commercial devices usually use a two-recording-channel system placed on specific muscles to control a single degree of fr ...

EPFL2023

Integration of feedforward and feedback control in the neuromechanics of vertebrate locomotion: a review of experimental, simulation and robotic studies

Auke Ijspeert

Animal locomotion is the result of complex and multi-layered interactions between the nervous system, the musculo-skeletal system and the environment. Decoding the underlying mechanisms requires an integrative approach. Comparative experimental biology has ...

Company Biologists Ltd2023

Sensorless force and displacement estimation in soft actuators

Jamie Paik, Sagar Dattatray Joshi

Sensing forms an integral part of soft matter based robots due to their compliance, dependence on loading conditions, and virtually infinite degrees of freedom. Previous studies have developed several extrinsic sensors and embedded them into soft actuators ...

ROYAL SOC CHEMISTRY2023

Loss of Motor Cortical Inputs to the Red Nucleus after CNS Disorders in Nonhuman Primates

Simon Borgognon

The premotor (PM) and primary motor (M1) cortical areas broadcast voluntary motor commands through multiple neuronal pathways, including the corticorubral projection that reaches the red nucleus (RN). However, the respective contribution of M1 and PM to co ...

SOC NEUROSCIENCE2023

Neuromodulation/neurostimulation system for mitigating locomotor deficits of parkinson's disease, spinal cord injury (sci), stroke and/or other neurological disorders

Tomislav Milekovic, Léonie Asboth, Grégoire Courtine, Eduardo Martin Moraud, Robin Jonathan Demesmaeker, Newton Cho, Jocelyne Bloch, Jordan Squair

The present invention relates to a combined neuromodulation and/or neurostimulation system (10) for mitigating locomotor deficits of/or neuronal disorders, especially Parkinson's disease, said system (10) comprising: - at least one Deep Brain Stimulation ( ...

2023

Human-machine interface for two-dimensional steering control with the auricular muscles

Solaiman Shokur, Silvestro Micera, Daniel Jose Lins Leal Pinheiro

Human-machine interfaces (HMIs) can be used to decode a user's motor intention to control an external device. People that suffer from motor disabilities, such as spinal cord injury, can benefit from the uses of these interfaces. While many solutions can be ...

FRONTIERS MEDIA SA2023

Understanding motor control and impairment: An upper-limb model for muscular assessment

Tristan Jean Robin Barjavel

The human upper limb is a complex musculoskeletal system that can still perform various tasks with impressive efficacy thanks to the ability of the central nervous system to control and modulate the activation of more than 40 muscles. Stroke is a leading ...

EPFL2023

Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Aude Billard, Bernardo Fichera

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

SPRINGER INTERNATIONAL PUBLISHING AG2023

Sensor-based control strategies for integration of epidural electrical stimulation in rehabilitation after spinal cord injury

Miroslav Caban

Spinal Cord Injury (SCI) results in damage to neural circuitry connecting the brain to the periphery. Consequently, sensory and motor function is lost, to varying degree, depending on the site and severity of the lesion. More than half of spinal cord injur ...

EPFL2022