Versatile Dynamic Motion Generation Framework: Demonstration With a Crutch-Less Exoskeleton on Real-Life Obstacles at the Cybathlon 2020 With a Complete Paraplegic Person

Autor: Vaiyee Huynh, Guillaume Burger, Quoc Viet Dang, Raphaël Pelgé, Guilhem Boéris, Jessy W. Grizzle, Aaron D. Ames, Matthieu Masselin

Publikováno v: Frontiers in Robotics and AI, Vol 8 (2021)

Lower-limb exoskeletons are a promising option to increase the mobility of persons with leg impairments in a near future. However, it is still challenging for them to ensure the necessary stability and agility to face obstacles, particularly the vari

Externí odkaz: https://doaj.org/article/64f6d5bed4f142f09c0716fae03f64f6

Balance control for an underactuated leg exoskeleton based on capture point concept and human balance strategies

Autor: Chistine Chevallereau, Catherine Bidard, Vaiyee Huynh

Publikováno v: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)
2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Nov 2016, Cancun, Mexico. pp.483-488, ⟨10.1109/HUMANOIDS.2016.7803319⟩
Humanoids

Conference of 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 ; Conference Date: 15 November 2016 Through 17 November 2016; Conference Code:125717; International audience; This paper presents a balance control for a powered

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::befc33b05d27bf360d7a893305ca9a21
https://hal-cea.archives-ouvertes.fr/cea-01840419/file/HUMANOIDS_vFINALE.pdf