Alexandre Ledoux

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This paper describes a method that passively assesses basic walker-assisted gait characteristics using only force-moment measurements from the walker's handles. The passively derived gait characteristics of 22 subjects were validated against motion capture gait analysis. The force-moment based heel initial contact detection algorithm have produced a high(More)
This paper describes the navigational control scheme used in the CO-Operative Locomotion Aide (COOL Aide), an intelligent walker designed to assist the elderly or the disabled with normal, and routine walking tasks. Navigation is achieved through a shared control architecture that recognizes the goals of both the human user and the walker. The control(More)
This paper emphasizes the importance of assessing stability index for steering-controlled three-wheeled walkers. The paper describes a stability computation model that can be used to generate a reference input to the intelligent sharedcontrol algorithm. The model can be used to evaluate the instantaneous stability margin of the walker-user system. This(More)
This paper presents a novel approach to infer navigational intent of the user of a walker, based on measuring forces and moments applied to the walker’s handles. While there are many types of “intent” that could be inferred for a given user action, the experiments conducted here focused on the determining user’s navigational intent, i.e. their desired(More)
This work describes a method that passively assesses basic walker-assisted gait characteristic, including heel strikes, toe-off events, as well as stride time, double support and right & left single support phases using only force-moment measurements from the walker's handles. The passively derived gait characteristics were validated against motion capture(More)
This paper presents a physics-based model approach to infer navigational intent of the user of a walker, based on measuring forces and moments applied to the walker's handles. Our experiments use two 6-DOF force/moment sensors on the walker's handles, a 2-D kinematic-dynamic model of the walker and a digital motion capture system to trace the path of the(More)
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