Publication

A Simple Body-limb Coordination Model that Mimics Primitive Tetrapod Walking

Publications associées (30)

Sprawling Quadruped Robot Driven by Decentralized Control With Cross-Coupled Sensory Feedback Between Legs and Trunk

Quadruped animals achieve agile and highly adaptive locomotion owing to the coordination between their legs and other body parts, such as the trunk, head, and tail, that is, body-limb coordination. This study aims to understand the sensorimotor control und ...

2021

Spontaneous Gait Transitions of Sprawling Quadruped Locomotion by Sensory-Driven Body-Limb Coordination Mechanisms

Auke Ijspeert, Shura Suzuki

Deciphering how quadrupeds coordinate their legs and other body parts, such as the trunk, head, and tail (i.e., body-limb coordination), can provide informative insights to improve legged robot mobility. In this study, we focused on sprawling locomotion of ...

FRONTIERS MEDIA SA2021

Data integration for the numerical simulation of cardiac electrophysiology

Alfio Quarteroni, Luca Dede', Andrea Manzoni, Stefano Pagani

The increasing availability of extensive and accurate clinical data is rapidly shaping cardiovascular care by improving the understanding of physiological and pathological mechanisms of the cardiovascular system and opening new frontiers in designing thera ...

WILEY2021

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

Combining Reflexes and External Sensory Information in a Neuromusculoskeletal Model to Control a Quadruped Robot

Auke Ijspeert, Azhar Aulia Saputra

This article examines the importance of integrating locomotion and cognitive information for achieving dynamic locomotion from a viewpoint combining biology and ecological psychology. We present a mammalian neuromusculoskeletal model from external sensory ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Mathematical and numerical models for the cardiac electromechanical function

Alfio Quarteroni, Francesco Regazzoni

This paper deals with the mathematical model that describes the function of the human heart. More specifically, it addresses the equations that express the electromechanical process, that is the mechanical deformation (contraction and relaxation) of the he ...

EUROPEAN MATHEMATICAL SOC-EMS2021

Impaired reach-to-grasp kinematics in parkinsonian patients relates to dopamine-dependent, subthalamic beta bursts

Silvestro Micera, Matteo Vissani

Excessive beta-band oscillations in the subthalamic nucleus are key neural features of Parkinson's disease. Yet the distinctive contributions of beta low and high bands, their dependency on striatal dopamine, and their correlates with movement kinematics a ...

NATURE RESEARCH2021

A Variational Inference Approach to Learning Multivariate Wold Processes

Patrick Thiran, Matthias Grossglauser, Seyed Jalal Etesami, William Trouleau, Negar Kiyavash

Temporal point-processes are often used for mathematical modeling of sequences of discrete events with asynchronous timestamps. We focus on a class of temporal point-process models called multivariate Wold processes (MWP). These processes are well suited t ...

MICROTOME PUBLISHING2021

Biophysically detailed mathematical models of multiscale cardiac active mechanics

Alfio Quarteroni, Francesco Regazzoni

Author summary Computer-based numerical simulations of the heart are increasingly assuming a recognized role in the context of computational medicine and cardiology. They are based on mathematical models describing the different physical phenomena occurrin ...

2020

Uncontrolled manifold analysis of the effects of a perturbation-based training on the organization of leg joint variance in cerebellar ataxia

Silvestro Micera

Walking patterns of persons affected by cerebellar ataxia (CA) are characterized by wide stride-to-stride variability ascribable to: the background pathology-related sensory-motor noise; the motor redundancy, i.e., an excess of elemental degrees of freedom ...

SPRINGER2021