Publications associées à Pre-impact detection algorithm to identify lack of balance due to tripping-like perturbations

Augmenting locomotor perception by remapping tactile foot sensation to the back

Mohamed Bouri, Olaf Blanke, Oliver Alan Kannape, Atena Fadaeijouybari, Selim Jean Habiby Alaoui

Background :Sensory reafferents are crucial to correct our posture and movements, both reflexively and in a cognitively driven manner. They are also integral to developing and maintaining a sense of agency for our actions. In cases of compromised reafferen ...

BioMed Central2024

State-Based Versus Time-Based Estimation of the Gait Phase for Hip Exoskeletons in Steady and Transient Walking

Mohamed Bouri, Auke Ijspeert, Ali Reza Manzoori, Tian Ye

The growing demand for online gait phase (GP) estimation, driven by advancements in exoskeletons and prostheses, has prompted numerous approaches in the literature. Some approaches explicitly use time, while others rely on state variables to estimate the G ...

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

Gait Phase Estimation in Steady Walking: A Comparative Study of Methods Based on the Phase Portrait of the Hip Angle

Mohamed Bouri, Auke Ijspeert, Davide Malatesta, Coline Lugaz, Ali Reza Manzoori, Tian Ye

Accurate real-time estimation of the gait phase (GP) is crucial for many control methods in exoskeletons and prostheses. A class of approaches to GP estimation construct the phase portrait of a segment or joint angle, and use the normalized polar angle of ...

IEEE Xplore2023

Investigating the roles of reflexes and central pattern generators in the control and modulation of human locomotion using a physiologically plausible neuromechanical model

Auke Ijspeert, Andrea Di Russo, Stéphane Armand, Dimitar Yuriev Stanev, Anushree Bapusaheb Sabnis

Objective. Studying the neural components regulating movement in human locomotion is obstructed by the inability to perform invasive experimental recording in the human neural circuits. Neuromechanical simulations can provide insights by modeling the locom ...

Iop Publishing Ltd2023

Neuromechanical Simulations of Animats with Decentralised Control

Jonathan Patrick Arreguit O'Neill

The transition from aquatic to terrestrial environments represents a significant event in the history of evolution. For this transition to occur, animals had to adapt their morphology, physiology and locomotory skills to handle the challenges and interacti ...

EPFL2023

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

Immediate effect of ankle exoskeleton on spatiotemporal parameters and center of pressure trajectory after stroke

Mohamed Bouri, Solaiman Shokur, Silvestro Micera, Mouhamed Zorkot

Gait impairments is a common condition in post-stroke subjects. We recently presented a wearable ankle exoskeleton called G-Exos, which showed that the device assisted in the ankle's dorsiflexion and inversion/reversion movements. The aim of the current pi ...

IEEE2023

Flexural-tensegrity snapping tails for bio-inspired propulsion in fluids

Pedro Miguel Nunes Pereira de Almeida Reis, Claudio Boni

Many aquatic animals propel themselves by flapping their tails. Leveraging a recently proposed snapping cantilever beam based on the concept of flexural tensegrity, we propose a bio-inspired propulsion device. The design comprises a segmental beam with hol ...

ELSEVIER2022

Online Bipedal Locomotion Adaptation for Stepping on Obstacles Using a Novel Foot Sensor

Milad Shafiee Ashtiani

In this paper, we present a novel control architecture for the online adaptation of bipedal locomotion on inclined obstacles. In particular, we introduce a novel, cost-effective, and versatile foot sensor to detect the proximity of the robot's feet to the ...

IEEE2022

Gait Variability to Phenotype Common Orthopedic Gait Impairments Using Wearable Sensors

Amir Muaremi, Wei Zhang

Mobility impairments are a common symptom of age-related degenerative diseases. Gait features can discriminate those with mobility disorders from healthy individuals, yet phenotyping specific pathologies remains challenging. This study aims to identify if ...

MDPI2022

Sensory modulation of gait characteristics in human locomotion: A neuromusculoskeletal modeling study

Auke Ijspeert, Andrea Di Russo, Stéphane Armand, Dimitar Yuriev Stanev

The central nervous system of humans and other animals modulates spinal cord activity to achieve several locomotion behaviors. Previous neuromechanical models investigated the modulation of human gait changing selected parameters belonging to CPGs (Central ...

2021

Magnetization-prepared 2 Rapid Gradient-Echo MRI for B-1 Insensitive 3D T1 Mapping of Hip Cartilage: An Experimental and Clinical Validation

Tobias Kober

Background: Often used for T1 mapping of hip cartilage, three-dimensional (3D) dual-flip-angle (DFA) techniques are highly sensitive to flip angle variations related to B-1 inhomogeneities. The authors hypothesized that 3D magnetization-prepared 2 rapid gr ...

RADIOLOGICAL SOC NORTH AMERICA2021

Toward an objective assessment of mobility in clinical and daily activity settings

Arash Atrsaei

Quantification of mobility is the key to monitor the progression of mobility disorders as well as the effect of an intervention. Inertial measurement units (IMUs) with dedicated algorithms can quantify postural transitions and gait as the two key aspects o ...

EPFL2021

Comparison of Laboratory and Daily-Life Gait Speed Assessment during ON and OFF States in Parkinson’s Disease

Kamiar Aminian, Arash Atrsaei

Accurate assessment of Parkinson’s disease (PD) ON and OFF states in the usual environment is essential for tailoring optimal treatments. Wearables facilitate measurements of gait in novel and unsupervised environments; however, differences between unsuper ...

2021

Falls Efficacy Is Associated With Better Gait and Functional Outcomes After Rehabilitation in Older Patients

Kamiar Aminian

Objective: To examine the relationship between falls efficacy and the change in gait speed and functional status in older patients undergoing postacute rehabilitation. ...

W B SAUNDERS CO-ELSEVIER INC2021

Wearable Sensor-Based Real-Time Gait Detection: A Systematic Review

Auke Ijspeert, Urs Keller, Grégoire Courtine, Miroslav Caban, Joachim von Zitzewitz, Hari Prasanth

Gait analysis has traditionally been carried out in a laboratory environment using expensive equipment, but, recently, reliable, affordable, and wearable sensors have enabled integration into clinical applications as well as use during activities of daily ...

2021

Toward a remote assessment of walking bout and speed: application in patients with multiple sclerosis

Kamiar Aminian, Benoît Mariani, Farzin Dadashi, Arash Atrsaei

Gait speed as a powerful biomarker of mobility is mostly assessed in controlled environments, e.g. in the clinic. With wearable inertial sensors, gait speed can be estimated in an objective manner. However, most of the previous works have validated the gai ...

2021

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

A Muscle-Reflex Model of Forelimb and Hindlimb of Felidae Family of Animal with Dynamic Pattern Formation Stimuli

Auke Ijspeert, Azhar Aulia Saputra

Human and animal locomotion are controlled by complex neural circuits, which can also serve as inspiration for designing locomotion controllers for dynamic locomotion in legged robots. We develop a locomotion controller model including a central pattern ge ...

IEEE2020