ExoRecovery: Push Recovery with a Lower-Limb Exoskeleton Based on Stepping Strategy

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This thesis addresses key challenges in developing adaptive lower-limb exoskeletons to enhance balance, mobility, and user autonomy during daily living activities. It presents a comprehensive exploration of three critical aspects: push recovery during stan ...

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

We conducted a comparative user study of the Infinadeck [1] omnidirectional treadmill native control algorithm alongside an approach based on a state observer control scheme combining a kinematic model with error dynamics that allows users to change their ...

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 ...

Robotic devices represent an undeniable alternative method to traditional therapy. However, the clinical use of robot-assisted rehabilitation for patients with hemiplegia after stroke has been restricted for decades by i) limited functional characterisatio ...

Recent advances in the field of brain-machine interfaces (BMIs) have demonstrated enormous potential to shape the future of rehabilitation and prosthetic devices. Here, a lower-limb exoskeleton controlled by the intracortical activity of an awake behaving ...

Decision making and planning with partial state information is a problem faced by all forms of intelligent entities. The formulation of a problem under partial state information leads to an exorbitant set of choices with associated probabilistic outcomes m ...

The issues in the energy-efficiency process have much interest in the automotive industry. The energy criteria are also important in machine selection as well as productivity when new equipment is introduced on a shop floor. Remote laser welding having ben ...

Existing bridges may have been designed and constructed according to codes without any provisions for seismic design and detailing. Particularly in countries with moderate seismicity, such as Switzerland, modern seismic design standards might have been int ...

This paper presents a novel goniometer which is designed for use with X-ray diffraction analysis in protein crystallography. The PRIGO (Parallel Robotics Inspired Goniometer) is a 6 degree of freedom positioning device, allowing 3 translations (x, y, z) an ...

A sample of 33 eclipsing binaries observed in a field of the SMC with FLAMES@VLT is presented. The radial velocity curves obtained, together with existing OGLE light curves, allowed the determination of all stellar and orbital parameters of these binary sy ...

Thermal expansion is the major source of inaccuracy for ultra high-precision robots. In this paper we propose a strategy to model and compensate this effect. The experiment is run using a 1 DOF (degree-of-freedom) parallel robot equipped with ten temperatu ...

This thesis proposes a framework for haptic devices interacting with virtual environments. As application of the theoretical results a haptic device for the surgical training of hysteroscopy, a gynecologic intervention, is presented. Surgery simulators, wh ...

ExoRecovery: Push Recovery with a Lower-Limb Exoskeleton Based on Stepping Strategy

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Partial Assistance with Lower-Limb Exoskeletons to Enhance Gait and Balance in Daily Living Activities

Implicit Distance Functions: Learning and Applications in Robotics

User study of omnidirectional treadmill control algorithms in VR

A Public Data Set of Videos, Inertial Measurement Unit, and Clinical Scales of Freezing of Gait in Individuals With Parkinson's Disease During a Turning-In-Place Task

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

A multimodal framework for the design and the assessment of robotic-assisted treatments for motor disorders

EXiO-A Brain-Controlled Lower Limb Exoskeleton for Rhesus Macaques

Learning Search Strategies from Human Demonstrations

Total energy estimation model for remote laser welding process

Seismic Behavior of Poorly Detailed RC Bridge Piers

PRIGO: Parallel Robotics Inspired Goniometer for Protein Crystallography

New distance and depth estimates from observations of eclipsing binaries in the SMC

Thermal Behavior of an Ultra High-Precision Linear Axis Operating in Industrial Environment

Haptic interface design and control with application to surgery simulation