Paul Bourassa

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An accurate modeling of human stance might be helpful in assessing postural deficit. The objective of this article is to validate a mathematical postural control model for quiet standing posture. The postural dynamics is modeled in the sagittal plane as an inverted pendulum with torque applied at the ankle joint. The torque control system is represented by(More)
This paper presents a robust control strategy driving an actuated compass gait robot towards steady and periodic gaits. By robust we mean a large basin of attraction for the limit cycle. The originality lies in the generation of the swing leg reference angle and speed as a simple function of the supporting leg angle. Simulations and experimentation with a(More)
This paper reports the results of a series of tests conducted to evaluate the dynamic loads exerted by the Harrington rod on the vertebral bones during the correction of idiopathic scoliosis. Two types of Harrington rods were tested: the standard stepped rod and a modified threaded rod. The latter had a threaded end replacing the standard stepped end. The(More)
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