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IMMC

Sophie Heins
Contact


Funding: EU project (CYBERLEGs++)
Supervisor(s): Renaud Ronsse

Designing mechanical devices to restore natural locomotion for transfemoral amputees still raises many challenges. One of them is the development of an efficient control strategy for the prosthesis active joints, with the objective of making it flexible and intuitive to use. The aim of the PhD thesis is to develop a bio-inspired controller for a new generation of transfemoral prostheses, the CYBERLEGs prosthesis, for level-ground walking and for other locomotion tasks. The controller is based on three fundamental neuro-mechanical principles that were observed in healthy humans: motor primitives, local reflexes and postural support. This work also involves the investigation of the optimal combination of these bio-inspired strategies.


IMMC main research direction(s):
Biomedical engineering

Keywords:
biomechanics
medical device
robotics

Research group(s): MEED
Collaborations: External supervisor: Dirk Lefeber (VUB)

    

Recent publications

See complete list of publications

Journal Articles


1. Heins, Sophie; Tolu, Silvia; Ronsse, Renaud. Online Learning of the Dynamical Internal Model of Transfemoral Prosthesis for Enhancing Compliance. In: IEEE Robotics and Automation Letters, Vol. 6, no. 4, p. 6156-6163 (2021). doi:10.1109/LRA.2021.3091953. http://hdl.handle.net/2078.1/248933

2. Dehem, Stéphanie; Montedoro, Vincenza; Edwards, Martin Gareth; Detrembleur, Christine; Stoquart, Gaëtan; Renders, Anne; Heins, Sophie; Dehez, Bruno; Lejeune, Thierry. Development of a robotic upper limb assessment to configure a serious game. In: NeuroRehabilitation, Vol. 44, no. 2, p. 263-274 (2019). doi:10.3233/nre-182525. xxx

3. Dehem, Stéphanie; Montedoro, vincezana; Brouwers, Isaline; Edwards, Martin; Detrembleur, Christine; Stoquart, gaetan; Renders, Anne; Heins, Sophie; Dehez, Bruno; Lejeune, Thierry. Validation of a robot serious game assessment protocol for upper limb motor impairment in children with cerebral palsy. In: NeuroRehabilitation, Vol. 45, no. 2, p. 137-149 (2019). doi:10.3233/nre-192745. http://hdl.handle.net/2078.1/226415

4. Heins, Sophie; Flynn, Louis; Geeroms, Joost; Lefeber, Dirk; Ronsse, Renaud. Torque control of an active elastic transfemoral prosthesis via quasi-static modelling. In: Robotics and Autonomous Systems, Vol. 107, p. 100-115 (2018). doi:10.1016/j.robot.2018.05.015. http://hdl.handle.net/2078.1/199538

5. Heins, Sophie; Dehem, Stéphanie; Montedoro, Vincenza; Stoquart, Gaëtan; Edwards, Martin; Dehez, Bruno; Rocca, Francois; De Deken, Pierre-Henri; Mancas, Matei; Lejeune, Thierry. Robotic-assisted serious gamefor motor and cognitive post-stroke rehabilitation. In: Robotic-assisted serious game for motor and cognitive post-stroke rehabilitation, p. 1-8. doi:10.1109/SeGAH.2017.7939262. http://hdl.handle.net/2078.1/186314

6. Dehem, Stéphanie; Stoquart, Gaëtan; Montedoro, Vincenza; Edwards, Martin; Heins, Sophie; Dehez, Bruno; Lejeune, Thierry. L’apport de nouvelles technologies dans la rééducation motrice et cognitive des patients cérébro-lésés. In: Louvain médical, Vol. 136, no. 2, p. 99-101 (2017). http://hdl.handle.net/2078.1/183890


Conference Papers


1. Heins, Sophie; Ronsse, Renaud. Compliant Control of a Transfemoral Prosthesis Combining Predictive Learning and Primitive-Based Reference Trajectories. In: Biosystems & Biorobotics, 2022, 978-3-030-69546-0, p. 89-93 xxx. doi:10.1007/978-3-030-69547-7_15. http://hdl.handle.net/2078.1/248930

2. Doumas, Ioannis; Lejeune, Thierry; Edwards, Martin; Stoquart, Gaëtan; Montedoro, Vincenza; Heins, Sophie; Dehem, Stéphanie. Motor and cognitive combined control system for upper limb robot assisted rehabilitation after stroke. 2020 xxx. http://hdl.handle.net/2078.1/245803

3. Heins, Sophie; Flynn, Louis; Laloyaux, Henri; Geeroms, Joost; Lefeber, Dirk; Ronsse, Renaud. Compliant Control of a Transfemoral Prosthesis by combining Feed-Forward and Feedback. In: 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), IEEE, 2020, 9781728159072 xxx. doi:10.1109/biorob49111.2020.9224434. http://hdl.handle.net/2078.1/238572

4. Heins, Sophie; Flynn, Louis; Geeroms, Joost; Lefeber, Dirk; Ronsse, Renaud. Quasi-Static Modelling of a Redundant Knee Prosthesis. In: 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob), IEEE, 2018, 978-1-5386-8183-1 xxx. doi:10.1109/biorob.2018.8487632. http://hdl.handle.net/2078.1/204146

5. Heins, Sophie; Dehem, Stéphanie; Montedoro, Vincenza; Rocca, François; de Deken, Pierre-Henri; Edwards, Martin; Dehez, Bruno; Mancas, Matei; Stoquart, Gaëtan; Lejeune, Thierry. Robotic-assisted Serious Game For Motor And Cognitive Post-stroke Rehabilitation. 2017 xxx. http://hdl.handle.net/2078.1/184160

6. Dehem, Stéphanie; Edwards, Martin; Montedoro, Vincenza; Detrembleur, Christine; Stoquart, Gaëtan; Renders, Anne; Galinski, Daniel; Sapin, Julien; Vanderwegen, Martin; Heins, Sophie; Clarinval, Charlotte; Frognet, Cécile; Brouwers, Isaline; Lejeune, Thierry. Assessment of upper limb motor impairments in children with cerebral palsy using a rehabilitation robot and serious game exercise. 2017 xxx. http://hdl.handle.net/2078.1/184161

7. Montedoro, Vincenza; Alsamour, Marie; Dehem, Stéphanie; Lejeune, Thierry; Stoquart, Gaëtan; Galinski, Daniel; Dehez, Bruno; Heins, Sophie; Edwards, Martin. Hemineglect assessment and rehabilitation using a robotic serious game. 2017 xxx. http://hdl.handle.net/2078.1/184162

8. Dehem, Stéphanie; Edwards, Martin; Montedoro, Vincenza; Detrembleur, Christine; Stoquart, Gaëtan; Renders, Anne; Galinski, Daniel; Sapin, Julien; Vanderwegen, Martin; Heins, Sophie; Clarinval, Charlotte; Frognet, Cécile; Brouwers, Isaline; LEJEUNE, Thierry. Validation of an assessment protocol for upper limb impairments using a rehabilitation robot in healthy children and children with cerebral palsy. 2016 xxx. http://hdl.handle.net/2078.1/177289

9. Dehem, Stéphanie; Edwards, Martin; Montedoro, Vincenza; Detrembleur, Christine; Stoquart, Gaëtan; Renders, Anne; Galinski, Daniel; Sapin, Julien; Vanderwegen, Martin; Heins, Sophie; Clarinval, Charlotte; Frognet, Cécile; Brouwers, Isaline; Lejeune, Thierry. Validation de tâches d’évaluation de la motricité du membre supérieur à l’aide d’un robot de rééducation chez des enfants sains. 2016 xxx. http://hdl.handle.net/2078.1/177286


Dissertations


1. Heins, Sophie. Design and evaluation of bio-inspired control strategies for transfemoral prosthesis, prom. : Ronsse, Renaud, 21/01/2021. http://hdl.handle.net/2078.1/242578