Romain Baud
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INSPIIRE – A Modular and Passive Exoskeleton to Investigate Human Walking and Balance Open
Powered exoskeletons for SCI patients are mainly limited by their inability to balance dynamically during walking. To investigate and understand the control strategies of human bipedal locomotion, we developed INSPIIRE, a passive exoskelet…
TWIICE One powered exoskeleton: Effect of design improvements on usability in daily-life as measured by Cybathlon race performance Open
Background Spinal cord injury leading to paraplegia affects the mobility and physiological well-being of nearly one in a thousand people. Powered exoskeletons can temporarily restore the ability to walk. Their relevance in daily life is st…
Review of control strategies for lower-limb exoskeletons to assist gait Open
Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a large range of control methods. The goal of this paper is to review and classify these control strategies, that determine how these devices interact w…
Additional file 1 of Review of control strategies for lower-limb exoskeletons to assist gait Open
Additional file 1. The full data base of the reviewed records and their classification according to the proposed framework.
Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users Open
Several lower-limb exoskeletons enable overcoming obstacles that would impair daily activities of wheelchair users, such as going upstairs. Still, as most of the currently commercialized exoskeletons require the use of crutches, they preve…
Control Strategies for Lower-limb Exoskeletons: from Full Mobilization to Assistance of Balance Open
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 s…
Bio-inspired standing balance controller for a full-mobilization exoskeleton Open
This paper presents a novel method to perform automatic standing balance in a full mobilization exoskeleton. It exploits the locked ankle and the curved foot sole of the exoskeleton TWIICE. The idea is to use the knees to roll the sole and…
Balance Control Strategies during Standing in a Locked-Ankle Passive Exoskeleton Open
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 sagitta…