Innes Vanderniepen

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This paper discusses two ways to estimate the interaction force at the end-effector of a robot. The first approach that is presented combines filtered dynamic equations with a recursive least squares estimation algorithm to provide a smoothened force signal, which is useful in the (common) case of noisy torque measurements.
The concept of the huggable robot Probo is a result of the desire to improve the living conditions of children in hospital environment. These children need distraction and lots of information. In this paper we present the concept of this new robot. The robot will be employed in hospitals, as tele-interface for entertainment, communication and medical(More)
This paper reports on the importance of understanding the human walking biomechanics for the design of new robotic and/or prosthetic feet. On the basis of the human ankle behavior, the design specifications for a new ankle-foot system are determined. Two existing electrically powered anklefoot concepts are described. The first device was developed at the(More)
Estimating the force exerted by a pneumatic muscle actuator by measuring its gauge pressure is challenging since hysteresis is almost always present. This paper investigates the hysteresis phenomenon in pleated pneumatic artificial muscles, which is found to be largely independent of gauge pressure. A Preisach based hysteresis model that can cope with the(More)
In situations where robots share their workspace with humans, and where physical human-robot interaction is possible or even necessary, safety is of paramount importance. Low weight and passive compliance are often considered important aspects contributing to robot safety. In this paper, the role of passive compliance is investigated with respect to the(More)
Rehabilitation robotics is a young discipline that will become an imperative when the age of the population will keep rising. A short overview of the necessary general requirements of rehabilitation robotics will be given. Subsequently, this paper introduces a novel rotational actuator with adaptable compliance that has several characteristics that make it(More)
This paper reports on the powered elbow orthosis for orthopaedic rehabilitation project and its main challenges. The mechanical design is briefly discussed. The actuator being used is the novel rotational actuator, MACCEPA or Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator. The schematic representation and working principle(More)
In general, prosthetic feet can be classified in three categories. These are, following the time line: Conventional Feet (CF), Energy-Storing-and-Returning (ESR) feet, and recent so-called dasiabionicpsila feet. Research studies have shown enhanced performance properties of ESR feet compared to early CF. However, even with the advanced technology today,(More)
Rehabilitation robotics is a young discipline that will become an imperative when the age of the population rises. The orthopaedic rehabilitation of the elbow joint poses some interesting challenges, discussed in this paper. There is a major difference between neuro-rehabilitation and orthopaedic rehabilitation and thus in the approaches necessary to tackle(More)