The CYBERnetic LowEr-Limb CoGnitive Ortho-prosthesis Plus Plus

Deliverables

Report and journal paper manuscript from 2nd clinical study

This is a public report about the results of the second clinical study of CLs++ project.

Report and journal paper manuscript about literature review

This is a public report about the literature review regarding the studies supporting the clinical viability of CLs++ systems.

Updated report and journal paper manuscript about literature review

This is a public report about the literature review regarding the studies supporting the clinical viability of CLs++ systems (this is an updated version of the deliverable D10.1).

Report and journal paper manuscript from 1st clinical study

This is a public report about the results of the first clinical study of CLs++ project.

Report and journal paper manuscript about HE assessment

This is a public document to report about the HE assessment of the CLs++ technologies.

Report and journal paper about the service and business model

This is a public document about possible business models to bring CLs++ technologies on the market.

Data Management Plan

This document repots the plan to manage all data collected in the project.

CLs++ dissemination means: website, brochure, Web2.0 tools

Tools and means for dissemination.

Publications

Repeated exposure to tripping like perturbations elicits more precise control and lower toe clearance of the swinging foot during steady walking

Author(s): Tamon Miyake, Federica Aprigliano, Shigeki Sugano, Silvestro Micera, Vito Monaco
Published in: Human Movement Science, Issue 76, 2021, Page(s) 102775, ISSN 0167-9457
Publisher: Elsevier BV
DOI: 10.1016/j.humov.2021.102775

A review of terrain detection systems for applications in locomotion assistance

Author(s): Ali H.A. Al-dabbagh, Renaud Ronsse
Published in: Robotics and Autonomous Systems, Issue 133, 2020, Page(s) 103628, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2020.103628

Sensory Fusion of Magnetoinertial Data Based on Kinematic Model With Jacobian Weighted-Left-Pseudoinverse and Kalman-Adaptive Gains

Author(s): Matjaz Mihelj, Janez Podobnik, Marko Munih
Published in: IEEE Transactions on Instrumentation and Measurement, Issue 68/7, 2019, Page(s) 2610-2620, ISSN 0018-9456
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tim.2018.2867891

Centre of Pressure Estimation during Walking Using Only Inertial-Measurement Units and End-To-End Statistical Modelling

Author(s): Janez Podobnik, David Kraljić, Matjaž Zadravec, Marko Munih
Published in: Sensors, Issue 20/21, 2020, Page(s) 6136, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20216136

Assessment of Intuitiveness and Comfort of Wearable Haptic Feedback Strategies for Assisting Level and Stair Walking

Author(s): Ilaria Cesini, Giacomo Spigler, Sahana Prasanna, Jessica D’Abbraccio, Daniela De Luca, Filippo Dell’Agnello, Simona Crea, Nicola Vitiello, Alberto Mazzoni, Calogero Maria Oddo
Published in: Electronics, Issue 9/10, 2020, Page(s) 1676, ISSN 2079-9292
Publisher: MDPI
DOI: 10.3390/electronics9101676

Increased Symmetry of Lower-Limb Amputees Walking With Concurrent Bilateral Vibrotactile Feedback

Author(s): Elena Martini, Ilaria Cesini, Jessica D'Abbraccio, Gabriele Arnetoli, Stefano Doronzio, Antonella Giffone, Barbara Meoni, Calogero M. Oddo, Nicola Vitiello, Simona Crea
Published in: IEEE Transactions on Neural Systems and Rehabilitation Engineering, Issue 29, 2021, Page(s) 74-84, ISSN 1534-4320
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tnsre.2020.3034521

Pressure-Sensitive Insoles for Real-Time Gait-Related Applications

Author(s): Elena Martini, Tommaso Fiumalbi, Filippo Dell’Agnello, Zoran Ivanić, Marko Munih, Nicola Vitiello, Simona Crea
Published in: Sensors, Issue 20/5, 2020, Page(s) 1448, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s20051448

Physical human-robot interaction of an active pelvis orthosis: toward ergonomic assessment of wearable robots

Author(s): Nicolò d’Elia, Federica Vanetti, Marco Cempini, Guido Pasquini, Andrea Parri, Marco Rabuffetti, Maurizio Ferrarin, Raffaele Molino Lova, Nicola Vitiello
Published in: Journal of NeuroEngineering and Rehabilitation, Issue 14/1, 2017, ISSN 1743-0003
Publisher: BioMed Central
DOI: 10.1186/s12984-017-0237-y

Experimental Validation of Motor Primitive-Based Control for Leg Exoskeletons during Continuous Multi-Locomotion Tasks

Author(s): Virginia Ruiz Garate, Andrea Parri, Tingfang Yan, Marko Munih, Raffaele Molino Lova, Nicola Vitiello, Renaud Ronsse
Published in: Frontiers in Neurorobotics, Issue 11, 2017, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2017.00015

VUB-CYBERLEGs CYBATHLON 2016 Beta-Prosthesis: case study in control of an active two degree of freedom transfemoral prosthesis

Author(s): Louis L. Flynn, Joost Geeroms, Tom van der Hoeven, Bram Vanderborght, Dirk Lefeber
Published in: Journal of NeuroEngineering and Rehabilitation, Issue 15/1, 2018, ISSN 1743-0003
Publisher: BioMed Central
DOI: 10.1186/s12984-017-0342-y

An ecologically-controlled exoskeleton can improve balance recovery after slippage

Author(s): V. Monaco, P. Tropea, F. Aprigliano, D. Martelli, A. Parri, M. Cortese, R. Molino-Lova, N. Vitiello, S. Micera
Published in: Scientific Reports, Issue 7, 2017, Page(s) 46721, ISSN 2045-2322
Publisher: Nature Publishing Group
DOI: 10.1038/srep46721

Aging does not affect the intralimb coordination elicited by slip-like perturbation of different intensities

Author(s): Federica Aprigliano, Dario Martelli, Peppino Tropea, Guido Pasquini, Silvestro Micera, Vito Monaco
Published in: Journal of Neurophysiology, Issue 118/3, 2017, Page(s) 1739-1748, ISSN 0022-3077
Publisher: American Physiological Society
DOI: 10.1152/jn.00844.2016

Energetic analysis and optimization of a MACCEPA actuator in an ankle prosthesis

Author(s): Joost Geeroms, Louis Flynn, Rene Jimenez-Fabian, Bram Vanderborght, Dirk Lefeber
Published in: Autonomous Robots, Issue 42/1, 2018, Page(s) 147-158, ISSN 0929-5593
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10514-017-9641-1

Whole Body Awareness for Controlling a Robotic Transfemoral Prosthesis

Author(s): Andrea Parri, Elena Martini, Joost Geeroms, Louis Flynn, Guido Pasquini, Simona Crea, Raffaele Molino Lova, Dirk Lefeber, Roman Kamnik, Marko Munih, Nicola Vitiello
Published in: Frontiers in Neurorobotics, Issue 11, 2017, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2017.00025

Real-Time Hybrid Locomotion Mode Recognition for Lower Limb Wearable Robots

Author(s): Andrea Parri, Kebin Yuan, Dario Marconi, Tingfang Yan, Simona Crea, Marko Munih, Raffaele Molino Lova, Nicola Vitiello, Qining Wang
Published in: IEEE/ASME Transactions on Mechatronics, Issue 22/6, 2017, Page(s) 2480-2491, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TMECH.2017.2755048

Optimizing the power and energy consumption of powered prosthetic ankles with series and parallel elasticity

Author(s): Tom Verstraten, Joost Geeroms, Glenn Mathijssen, Bryan Convens, Bram Vanderborght, Dirk Lefeber
Published in: Mechanism and Machine Theory, Issue 116, 2017, Page(s) 419-432, ISSN 0094-114X
Publisher: Pergamon Press Ltd.
DOI: 10.1016/j.mechmachtheory.2017.06.004

Gastrocnemius Myoelectric Control of a Robotic Hip Exoskeleton Can Reduce the User's Lower-Limb Muscle Activities at Push Off

Author(s): Lorenzo Grazi, Simona Crea, Andrea Parri, Raffaele Molino Lova, Silvestro Micera, Nicola Vitiello
Published in: Frontiers in Neuroscience, Issue 12, 2018, ISSN 1662-453X
Publisher: Frontiers
DOI: 10.3389/fnins.2018.00071

External sensory-motor cues while managing unexpected slippages can violate the planar covariation law

Author(s): F. Aprigliano, V. Monaco, S. Micera
Published in: Journal of Biomechanics, Issue 85, 2019, Page(s) 193-197, ISSN 0021-9290
Publisher: Elsevier BV
DOI: 10.1016/j.jbiomech.2019.01.003

Effectiveness of a Robot-Mediated Strategy While Counteracting Multidirectional Slippages

Author(s): F. Aprigliano, V. Monaco, P. Tropea, D. Martelli, N. Vitiello, S. Micera
Published in: Robotica, 2019, Page(s) 1-13, ISSN 0263-5747
Publisher: Cambridge University Press
DOI: 10.1017/s0263574719000626

Torque control of an active elastic transfemoral prosthesis via quasi-static modelling

Author(s): Sophie Heins, Louis Flynn, Joost Geeroms, Dirk Lefeber, Renaud Ronsse
Published in: Robotics and Autonomous Systems, Issue 107, 2018, Page(s) 100-115, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.1016/j.robot.2018.05.015

The Challenges and Achievements of Experimental Implementation of an Active Transfemoral Prosthesis Based on Biological Quasi-Stiffness: The CYBERLEGs Beta-Prosthesis

Author(s): Louis Flynn, Joost Geeroms, Rene Jimenez-Fabian, Sophie Heins, Bram Vanderborght, Marko Munih, Raffaele Molino Lova, Nicola Vitiello, Dirk Lefeber
Published in: Frontiers in Neurorobotics, Issue 12, 2018, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2018.00080

Controlling a robotic hip exoskeleton with noncontact capacitive sensors

Author(s): Simona Crea, Silvia Manca, Andrea Parri, Enhao Zheng, Jingeng Mai, Raffaele Molino Lova, Nicola Vitiello, Qining Wang
Published in: IEEE/ASME Transactions on Mechatronics, 2019, Page(s) 1-1, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2019.2929826

Gait training using a robotic hip exoskeleton improves metabolic gait efficiency in the elderly

Author(s): Elena Martini, Simona Crea, Andrea Parri, Luca Bastiani, Ugo Faraguna, Zach McKinney, Raffaello Molino-Lova, Lorenza Pratali, Nicola Vitiello
Published in: Scientific Reports, Issue 9/1, 2019, ISSN 2045-2322
Publisher: Nature Publishing Group
DOI: 10.1038/s41598-019-43628-2

A Knee–Ankle–Foot Orthosis to Assist the Sound Limb of Transfemoral Amputees

Author(s): C. B. Sanz-Morere, M. Fantozzi, A. Parri, F. Giovacchini, A. Baldoni, M. Cempini, S. Crea, D. Lefeber, N. Vitiello
Published in: IEEE Transactions on Medical Robotics and Bionics, Issue 1/1, 2019, Page(s) 38-48, ISSN 2576-3202
Publisher: IEEE
DOI: 10.1109/tmrb.2019.2895789

Perception of Time-Discrete Haptic Feedback on the Waist is Invariant With Gait Events

Author(s): I. Cesini, E. Martini, M. Filosa, G. Spigler, A. M. Sabatini, N. Vitiello, C. M. Oddo, S. Crea
Published in: IEEE Transactions on Neural Systems and Rehabilitation Engineering, Issue 28/7, 2020, Page(s) 1595-1604, ISSN 1534-4320
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tnsre.2020.2984913

Effectiveness of Assistive Torque Patterns Supplied by a Pelvis Exoskeleton After Slippages: A Pilot Study

Author(s): F. Aprigliano, V. Monaco, P. Tropea, D. Martelli, N. Vitiello, S. Micera
Published in: Converging Clinical and Engineering Research on Neurorehabilitation III - Proceedings of the 4th International Conference on NeuroRehabilitation (ICNR2018), October 16-20, 2018, Pisa, Italy, Issue 21, 2019, Page(s) 273-277, ISBN 978-3-030-01844-3
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-01845-0_55

A New Sensory Feedback System for Lower-Limb Amputees: Assessment of Discrete Vibrotactile Stimuli Perception During Walking

Author(s): Mariangela Filosa, Ilaria Cesini, Elena Martini, Giacomo Spigler, Nicola Vitiello, Calogero Oddo, Simona Crea
Published in: Wearable Robotics: Challenges and Trends - Proceedings of the 4th International Symposium on Wearable Robotics, WeRob2018, October 16-20, 2018, Pisa, Italy, Issue 22, 2019, Page(s) 105-109, ISBN 978-3-030-01886-3
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-01887-0_21

Bio-inspired Walking: From Humanoids to Assistive Devices

Author(s): Renaud Ronsse
Published in: Wearable Robotics: Challenges and Trends - Proceedings of the 4th International Symposium on Wearable Robotics, WeRob2018, October 16-20, 2018, Pisa, Italy, Issue 22, 2019, Page(s) 271-275, ISBN 978-3-030-01886-3
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-01887-0_52

A Wearable Haptic Feedback System for Assisting Lower-Limb Amputees in Multiple Locomotion Tasks

Author(s): Ilaria Cesini, Giacomo Spigler, Sahana Prasanna, Domitilla Taxis, Filippo Dell’Agnello, Elena Martini, Simona Crea, Nicola Vitiello, Alberto Mazzoni, Calogero Maria Oddo
Published in: Wearable Robotics: Challenges and Trends - Proceedings of the 4th International Symposium on Wearable Robotics, WeRob2018, October 16-20, 2018, Pisa, Italy, Issue 22, 2019, Page(s) 115-119, ISBN 978-3-030-01886-3
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-01887-0_23

A Bioinspired Control Strategy for the CYBERLEGs Knee-Ankle-Foot Orthosis: Feasibility Study with Lower-Limb Amputees

Author(s): Clara Beatriz Sanz-Morere, Matteo Fantozzi, Andrea Parri, Franchisco Giovacchini, Andrea Baldoni, Simona Crea, Nicola Vitiello
Published in: 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob), 2018, Page(s) 503-508, ISBN 978-1-5386-8183-1
Publisher: IEEE
DOI: 10.1109/biorob.2018.8487692

Quasi-Static Modelling of a Redundant Knee Prosthesis

Author(s): Sophie Heins, Louis Flynn, Joost Geeroms, Dirk Lefeber, Renaud Ronsse
Published in: 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob), 2018, Page(s) 776-782, ISBN 978-1-5386-8183-1
Publisher: IEEE
DOI: 10.1109/biorob.2018.8487632

Cortical reactive balance responses to unexpected slippages while walking: a pilot study

Author(s): Giovanni Mezzina, Federica Aprigliano, Silvestro Micera, Vito Monaco, Daniela De Venuto
Published in: 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2019, Page(s) 6868-6871, ISBN 978-1-5386-1311-5
Publisher: IEEE
DOI: 10.1109/embc.2019.8856925

On the Electrical Energy Consumption of Active Ankle Prostheses with Series and Parallel Elastic Elements

Author(s): Tom Verstraten, Louis Flynn, Joost Geeroms, Bram Vanderborght, Dirk Lefeber
Published in: 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob), 2018, Page(s) 720-725, ISBN 978-1-5386-8183-1
Publisher: IEEE
DOI: 10.1109/biorob.2018.8487656

Estimation of Energy Minimizing Series Elastic Spring Stiffness for an Active Knee Prosthesis

Author(s): Louis Flynn, Joost Geeroms, Sophie Heins, Bram Vanderborght, Dirk Lefeber
Published in: 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2020, Page(s) 459-464, ISBN 978-1-7281-5907-2
Publisher: IEEE
DOI: 10.1109/biorob49111.2020.9224393

Extraction of simple monophasic motor primitives towards bio-inspired locomotion assistance

Author(s): Henri Laloyaux, Renaud Ronsse
Published in: 2019 IEEE International Conference on Cyborg and Bionic Systems (CBS), 2019, Page(s) 253-260, ISBN 978-1-7281-5073-4
Publisher: IEEE
DOI: 10.1109/cbs46900.2019.9114458

Lower-limb amputees can reduce the energy cost of walking when assisted by an Active Pelvis Orthosis

Author(s): E. Martini, C.B. Sanz-Morere, C. Livolsi, A. Pergolini, G. Arnetoli, S. Doronzio, A. Giffone, R. Conti, F. Giovacchini, T. Frieriksson, K. Lechler, S. Crea, N. Vitiello
Published in: 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2020, Page(s) 809-815, ISBN 978-1-7281-5907-2
Publisher: IEEE
DOI: 10.1109/biorob49111.2020.9224417

Evaluation of time-frequency features as detectors of lack of balance due to tripping-like perturbations

Author(s): M. Guaitolini, F. Aprigliano, A. Mannini, V. Monaco, S. Micera, A. M. Sabatini
Published in: 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2019, Page(s) 2443-2446, ISBN 978-1-5386-1311-5
Publisher: IEEE
DOI: 10.1109/embc.2019.8857442

Online Estimation of Continuous Gait Phase for Robotic Transtibial Prostheses Based on Adaptive Oscillators

Author(s): Dongfang Xu, Simona Crea, Nicola Vitiello, Qining Wang
Published in: 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2020, Page(s) 1890-1895, ISBN 978-1-7281-6794-7
Publisher: IEEE
DOI: 10.1109/aim43001.2020.9158968

Modeling and control of a transfemoral prosthesis embedding two infinitely variable transmissions

Author(s): Renaud Ronsse, Matthias Tummers, Christophe Everarts
Published in: 2017 International Conference on Rehabilitation Robotics (ICORR), 2017, Page(s) 1189-1196, ISBN 978-1-5386-2296-4
Publisher: IEEE
DOI: 10.1109/ICORR.2017.8009411

EEG/EMG based Architecture for the Early Detection of Slip-induced Lack of Balance

Author(s): Giovanni Mezzina, Federica Aprigliano, Silvestro Micera, Vito Monaco, Daniela De Venuto
Published in: 2019 IEEE 8th International Workshop on Advances in Sensors and Interfaces (IWASI), 2019, Page(s) 9-14, ISBN 978-1-7281-0557-4
Publisher: IEEE
DOI: 10.1109/iwasi.2019.8791252

On the use of (lockable) parallel elasticity in active prosthetic ankles

Author(s): Joost Geeroms, Louis Flynn, Vincent Ducastel, Bram Vanderborght, Dirk Lefeber
Published in: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, Page(s) 3383-3388, ISBN 978-1-7281-6212-6
Publisher: IEEE
DOI: 10.1109/iros45743.2020.9341679

Pre-impact detection algorithm to identify lack of balance due to tripping-like perturbations

Author(s): F. Aprigliano, M. Guaitolini, A. M. Sabatini, S. Micera, V. Monaco
Published in: 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2019, Page(s) 2430-2433, ISBN 978-1-5386-1311-5
Publisher: IEEE
DOI: 10.1109/embc.2019.8856383

Compliant Control of a Transfemoral Prosthesis by combining Feed-Forward and Feedback

Author(s): Sophie Heins, Louis Flynn, Henri Laloyaux, Joost Geeroms, Dirk Lefeber, Renaud Ronsse
Published in: 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2020, Page(s) 452-458, ISBN 978-1-7281-5907-2
Publisher: IEEE
DOI: 10.1109/biorob49111.2020.9224434

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