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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.

Searching for OpenAIRE data...

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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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, 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