MEED
Place du Levant 2/L5.04.02
1348 Louvain-la-Neuve
Assistant
MEED
Place du Levant 2/L5.04.02
1348 Louvain-la-Neuve
| Année | Label | Institution |
|---|---|---|
| 2018 | Master Ingénieur civil électromécanicien | Université catholique de Louvain |
My research focuses on the use of motor primitives for the control of wearable robotics.
More specifically, based on a small set of Gaussian-like periodic signals (the so-called motor primitives), we reconstruct torque references to be provided by an active hip orthosis in order to assist the wearer's walk or symmetrize their gait.
Motor primitives (whose extraction is performed in two steps) are combined to produce virtual muscles stimulations, which are then inputted into a bio-inspired dynamic model to generate torques references based on the slope level as well as the subject's kinematics and gait cadence.
An illustration of the different signals of this control strategy is provided in this video with a healthy subject walking on a treadmill.
More recently, we modified this algorithm in order to symmetrize the hip kinematics of subjects replicating a hemiparesis (emulated by loading one of their ankles with significant weights).
I am part of the Human-centered robotics team, under the supervision of Renaud Ronsse.
Laloyaux, Henri ; Livolsi, Chiara ; Pergolini, Andrea ; Crea, Simona ; Vitiello, Nicola ; Ronsse, Renaud. Simplified Motor Primitives for Gait Symmetrization: Pilot Study with an Active Hip Orthosis. 2023 IEEE International Conference on Robotics and Automation (London, United Kingdom, du 29/05/2023 au 02/06/2023).
Laloyaux, Henri ; Beatriz Sanz-Morère, Clara ; Livolsi, Chiara ; Pergolini, Andrea ; Crea, Simona ; Vitiello, Nicola ; Ronsse, Renaud. Experimental Assessment of a Control Strategy for Locomotion Assistance Relying on Simplified Motor Primitives. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (Kyoto, Japan, du 23/10/2022 au 27/10/2022). doi:10.1109/IROS47612.2022.9982128.
Laloyaux, Henri ; Ronsse, Renaud. Reconstruction of Hip Moments Through Constrained Shape Primitives. Wearable Robotics: Challenges and Trends. WeRob 2020 (Online). In: Biosystems & Biorobotics, 2022. 978-3-030-69546-0, p. 383-388. doi:10.1007/978-3-030-69547-7_62.
Heins, Sophie ; Flynn, Louis ; Laloyaux, Henri ; Geeroms, Joost ; Lefeber, Dirk ; Ronsse, Renaud. Compliant Control of a Transfemoral Prosthesis by combining Feed-Forward and Feedback. 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) (New York City, NY, USA, du 29/11/2020 au 1/12/2020). In: 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), IEEE, 2020. 9781728159072. doi:10.1109/biorob49111.2020.9224434.
Laloyaux, Henri ; Ronsse, Renaud. Extraction of Simple Monophasic Motor Primitives towards Bio-Inspired Locomotion Assistance. 2019 IEEE International Conference on Cyborg and Bionic Systems (Munich, Germany, du 18/09/2019 au 20/09/2019). In: 2019 IEEE International Conference on Cyborg and Bionic Systems, 2019. doi:10.1109/CBS46900.2019.9114458.