Ongoing research projects
Ongoing research projects in iMMC (July 2020)
This a short description of research projects which are presently under progress in iMMC.
Hereunder, you may select one research direction or choose to apply another filter:
List of projects related to: robotics
|Designing the next generation of ankle prostheses: towards efficient and lightweight designs|
Researcher: François Heremans
Supervisor(s): Renaud Ronsse, Bruno Dehez
Over the last decade, active lower-limb prostheses demonstrated their ability to restore a physiological gait for transfemoral amputees by supplying the required positive energy balance during daily life locomotion activities.
However, the added-value of such devices is significantly impacted by their limited energetic autonomy, excessive weight and cost preventing their full appropriation by the users. There is thus a strong incentive to produce active yet affordable, lightweight and energy efficient devices.
To address these issues, we are developing the ELSA (Efficient Lockable Spring Ankle) prosthesis embedding both a lockable parallel spring and a series elastic actuator, tailored to the walking dynamics of a sound ankle. The first contribution concerns the developement of a bio-inspired, lightweight and stiffness adjustable parallel spring, comprising an energy efficient ratchet and pawl mechanism with servo actuation. The second contribution is the addition of a complementary rope-driven series elastic actuator to generate the active push-off.
Our new system produces a sound ankle torque pattern during flat ground walking. Up to 50% of the peak torque is generated passively at a negligible energetic cost (0.1 J/stride). By design, the total system is lightweight (1.2 kg) and low cost.
|AVATAR² - Aortic VAlve TransApically Resected and Replaced|
Researcher: Xavier Bollen
Supervisor(s): Benoît Raucent
obtained his master's degree in electromechanical engineering, with specialization in mechatronics in 2011 from the Université catholique de Louvain (UCL), Belgium. In 2016, he obtained his PhD degree from the UCL.
During his thesis, under the supervision of Pr. Benoît Raucent and Pr. Parla Astarci (Cliniques universitaires Saint Luc, Brussels), he developed a new device for minimally aortic valve resection. The device was used on patients undergoing open heart surgery in order to validate its design and its functional principle.
Now he still works on the design of the device and he also works on additive manufacturing inside the IMAP department. Since September 2015, he is invited lecturer at the Polytechnic School of Louvain where he teaches technical drawing to the first year bachelor's students in engineering.
|Bio-inspired neural control for a new generation of transfemoral prostheses|
Researcher: Sophie Heins
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.
|Locomotion assistance through active motor primitives|
Researcher: Henri Laloyaux
Supervisor(s): Renaud Ronsse
This project is about the development and validation of a new method for assisting human locomotion with robotic devices. It will be based on so-called “motor primitives”, i.e. fundamental units of action which have been identified in the human locomotor apparatus. These primitives will be constrained to be mathematical functions with a limited number of open parameters, therefore optimizing the computational efficiency. Next, the assistance will be designed to be adaptive to the user’s particular gait and status. Finally, some primitives will be specifically developed to support the user’s balance, on top of delivering energy for assisting locomotion. These three objectives will require first theoretical developments, and then experimental validation.
|Captive Trajectory System for the handling of wake-impacted flow devices|
Researcher: Emile Moreau
Supervisor(s): Renaud Ronsse, Philippe Chatelain
The main objective of the thesis is to develop a Captive Trajectory System (CTS) for the handling of wake-impacted flow devices that are free flying or swimming, such as aircrafts or bio-inspired robots. Which means that there is no other external force applied on those models, barring gravity, than the one applied by the fluid.
The envisioned facility will be unique at an international level. At the same time, its scope of applications will be quite wide, covering, but not limited to, applied and fundamental fluid mechanics (fluid-structure interaction problems), biomechanics (biolocomotion), and civil engineering (wind or flow-structure interactions). Additionally, we see this project as a first foray into the emerging field of experimental studies augmented by Artificial Intelligence or co-simulation.
Nowadays, this is not experimentally achievable by the use of Lab facilities, because they only allow, at most, horizontal and vertical displacements and do not feature any force or motion control. Hence, the goal of this thesis, of a rather experimental nature, is to design a robotic system – possibly partially immersed – whose precision, sensing and control capabilities will be able to handle free-moving devices, and to validate fluid-structure interaction models developed by various IMMC research teams, also involved in the project.
|Detecting and using locomotion affordances for lower-limb prostheses by active vision|
Researcher: Ali Hussein Al-Dabbagh
Supervisor(s): Renaud Ronsse
Healthy lower-limb biomechanics reveals that active prostheses are necessary to provide amputees with human-like dynamics in various locomotion tasks like walking or stair ascending/descending. Ali’s project is about the specific challenges associated to the transition between two of these tasks, where the control parameters of the device has to be smoothly and timely adapted. Active vision is proposed to be used to augment the prosthesis with vision-based detection of possible locomotion affordances, therefore anticipating these transitions as a function of the user’s behavior.