Publications related to Detecting Slipping-Like Perturbations by Using Adaptive Oscillators

Related publications (30)

Single-pass Detection of Jailbreaking Input in Large Language Models

Volkan Cevher, Grigorios Chrysos, Yongtao Wu, Elias Abad Rocamora

Defending aligned Large Language Models (LLMs) against jailbreaking attacks is a challenging problem, with existing approaches requiring multiple requests or even queries to auxiliary LLMs, making them computationally heavy. Instead, we focus on detecting ...

2025

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

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

Auke Ijspeert, Mohamed Bouri, Ali Reza Manzoori

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 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, Dimitar Yuriev Stanev

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

On the accuracy of the Conventional gait Model: Distinction between marker misplacement and soft tissue artefact errors

Kamiar Aminian, Arnaud Barré

There is a lack of knowledge about the accuracy of the Conventional Gait Model (CGM), compared to the true bone motion. Accuracy is hindered by both marker misplacement and soft-tissue artefact (STA). The effect of the lateral knee marker (KNE) misplacemen ...

ELSEVIER SCI LTD2023

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

Auke Ijspeert, Mohamed Bouri, Ali Reza Manzoori

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

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

PROBING INTRACELLULAR ELASTICITY WITH MINIMAL-HESSIAN REGISTRATION

Michaël Unser

We propose an image-based elastography method to measure the heterogeneous stiffness inside a cell and its nucleus. It uses a widely accessible setup consisting of plate compression imaged with fluorescence microscopy. Our framework recovers a spatial map ...

IEEE2023

From Automated Bootstrapping to Collaborative Editing: A Framework for 4D City Reconstruction

Rémi Guillaume Petitpierre, Paul Robert Guhennec, Beatrice Vaienti, Didier Louis Dupertuis

We propose a framework for the construction of 4D scientific models for cities of the past. It leverages both the use of computational methods for bootstrapping, and a collaborative interface for visualisation and edition. This permits to continuously enri ...

Zenodo2023

Advancing Computational Chemistry with Stochastic and Artificial Intelligence Approaches

Justin Villard

Computational chemistry aims to simulate reactions and molecular properties at the atomic scale, advancing the design of novel compounds and materials with economic, environmental, and societal implications. However, the field relies on approximate quantum ...

EPFL2023

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

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

Pedro Miguel Nunes Pereira de Almeida Reis

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

A computational modeling approach to study the neuromechanics of terrestrial locomotion

Shravan Tata Ramalingasetty

The main theme of my thesis will be to use neuro-muscular modeling techniques to study locomotion of terrestrial mammals. Locomotion is the ability of animals to interact with the environment to propel themselves in space. It involves co-ordination and pre ...

EPFL2022

Knee adduction moment decomposition: Toward better clinical decision-making

Kamiar Aminian, Xavier Crevoisier, Robin Martin, Mina Arabbaniasad

Knee adduction moment (KAM) is correlated with the progression of medial knee osteoarthritis (OA). Although a generic gait modification can reduce the KAM in some patients, it may have a reverse effect on other patients. We proposed the "decomposed ground ...

FRONTIERS MEDIA SA2022

Live-cell imaging powered by computation

Suliana Manley

The proliferation of microscopy methods for live-cell imaging offers many new possibilities for users but can also be challenging to navigate. The prevailing challenge in live-cell fluorescence microscopy is capturing intra-cellular dynamics while preservi ...

Nature Portfolio2024

Computational tools and resources for designing new pathways to small molecules

Vassily Hatzimanikatis, Anastasia Sveshnikova

The metabolic engineering community relies on computational methods for pathway design to produce important small molecules in microbial hosts. Metabolic network databases are continuously curated and updated with known and novel reactions that expand the ...

CURRENT BIOLOGY LTD2022

Biomechanical Response of the Lower Extremity to Running-Induced Acute Fatigue: A Systematic Review

Kamiar Aminian, Salil Apte, Gaëlle Prigent

Objective: To investigate (i) typical protocols used in research on biomechanical response to running-induced fatigue, (ii) the effect of sport-induced acute fatigue on the biomechanics of running and functional tests, and (iii) the consistency of analyzed ...

2021

Advantages of patient-specific cutting guides with disposable instrumentation in total knee arthroplasty: a case control study

Brigitte Jolles-Haeberli

BackgroundTotal knee arthroplasty (TKA) is most frequently planned using conventional two-dimensional weight-bearing lower limb radiographs and is performed with conventional femoral and tibial cutting guides. Questions have been raised about the accuracy ...

BMC2021

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

Auke Ijspeert, Andrea Di Russo, 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

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