Development of Walk Assistive Orthoses for Elderly

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The hands, our silent performers in daily life, face overwhelming challenges when neurological impairments disrupt the simple tasks that compose our daily symphony. This thesis unveils a comprehensive framework for the objective monitoring of upper-limb re ...

This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...

Social insects, such as ants, termites, and honeybees, have evolved sophisticated societies where the collaborative efforts of "simple" individuals can lead to the emergence of complex dynamics. The reliance of each organism on the collective is so great t ...

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, ...

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 ...

Background: Although digital mobility outcomes (DMOs) can be readily calculated from real-world data collected with wearable devices and ad-hoc algorithms, technical validation is still required. The aim of this paper is to comparatively assess and validat ...

ABS T R A C T BACKGROUND: Upper limb (UL) motor impairment following stroke is a leading cause of functional limitations in activities of daily living. Robot-assisted therapy supports rehabilitation, but how its efficacy and the underlying neural mechanism ...

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 ...

Exoskeletons intended for partial assistance of walking should be able to follow the gait pattern of their users, via online adaptive control strategies rather than imposing predefined kinetic or kinematic profiles. NeuroMuscular Controllers (NMCs) are ada ...

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

Robotic technologies have shown the capability to interact with living organisms and even to form integrated mixed societies composed of living and artificial agents. Biocompatible robots, incorporating sensing and actuation capable of generating and respo ...

"Ensure healthy lives and promote well-being for all at all ages" is the third sustainable development goal for the United Nations Agenda of 2030. This doctoral thesis fully embodied this objective by targeting stroke, a leading cause of death and disabili ...

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 ...

The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...

The digitization of timber construction, the emergence of engineered wood products, and the urgent need to drastically reduce buildings' environmental impact have given a rebirth to wood as a construction material. On the one hand, increasing the use of ti ...

Locomotion is an essential evolutive innovation of living beings that allows them to colonize and dominate the planet. As diverse as animal morphologies are (living) and were (extinct), their locomotion modalities are also diverse. In particular, animal mo ...

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 ...

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 ( ...

Spinal cord injury (SCI) interrupts axonal connections between the brain and the spinal cord, and is characterized by a spectrum of sensorimotor and autonomic impairments. While spontaneous recovery is limited, recent studies have shown that functional imp ...

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 ...

Development of Walk Assistive Orthoses for Elderly

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Context-Aware Monitoring of Hand Motor Primitives in Daily Life Activities: A Pathway to Objectively Assess Rehabilitation of Patients with Upper-Limb Neurological Impairment

Hitting with Different Joints of a Robotic Manipulator

A Biohybrid Superorganism - Investigating honeybees' collective behaviors via interactive robotics

Investigating the neuromechanical control of healthy gait modulation and pathological gaits observed in cerebral palsy using neuromuscular simulations

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

Assessing real-world gait with digital technology? Validation, insights and recommendations from the Mobilise-D consortium

Neurophysiological underpinnings of an intensive protocol for upper limb motor recovery in subacute and chronic stroke patients

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

Novel Design and Implementation of a Neuromuscular Controller on a Hip Exoskeleton for Partial Gait Assistance

Exploration-based model learning with self-attention for risk-sensitive robot control

A robotic honeycomb for interaction with a honeybee colony

Combination of Neurotechnologies Towards Personalized Neurorehabilitation for Stroke Patients

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

Geometric and Learning Methods for Robots to Navigate in Human Crowds with Application to Smart Mobility Devices

Robotic Assembly of Integrally-Attached Timber Plate Structures: From Computational Design to Automated Construction

Beyond undulation! Body morphology and sensing components of elongated animals and robots reveal skills to maintain competent locomotion

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

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

Targeted regeneration of spinal cord neurons across a complete injury restores walking

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