3 papers
cs.RO2025
LT-Exosense: A Vision-centric Multi-session Mapping System for Lifelong Safe Navigation of Exoskeletons
Jianeng Wang, Matias Mattamala, Christina Kassab +5
Self-balancing exoskeletons offer a promising mobility solution for individuals with lower-limb disabilities. For reliable long-term operation, these exoskeletons require a percept…
cs.RO2023
Enabling safe walking rehabilitation on the exoskeleton Atalante: experimental results
Maxime Brunet, Marine Pétriaux, Florent Di Meglio +1
This paper exposes a control architecture enabling rehabilitation of walking impaired patients with the lower-limb exoskeleton Atalante. Atalante's control system is modified to al…
math.OC2022
Fast replanning of a lower-limb exoskeleton trajectories for rehabilitation
Maxime Brunet, Marine Pétriaux, Florent Di Meglio +1
The paper addresses the rehabilitation of disabled patients using a lower-limb fully-actuated exoskeleton. We propose a novel numerical method to replan the current step without je…