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Research Output

2020

Controller synthesis and clinical exploration of wearable gyroscopic actuators to support human balance

Lemus, D., Berry, A., Jabeen, S., Jayaraman, C., Hohl, K., van der Helm, F. C. T., Jayaraman, A. & Vallery, H., 2020, In : Scientific Reports. 10, 1, 15 p., 10412.

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
5 Downloads (Pure)

Mechanical Aspects of Robot Hands, Active Hand Orthoses and Prostheses: a Comparative Review

Vertongen, J., Kamper, D. G., Smit, G. & Vallery, H., 4 Aug 2020, In : IEEE - ASME Transactions on Mechatronics. 11 p.

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
38 Downloads (Pure)

Rolling in the Deep: Hybrid Locomotion for Wheeled-Legged Robots Using Online Trajectory Optimization

Bjelonic, M., Sekoor Lakshmana Sankar, P., Dario Bellicoso, C., Vallery, H. & Hutter, M., 2020, In : IEEE Robotics and Automation Letters. 5, 2, p. 3626-3633

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
7 Downloads (Pure)

Simulation of human gait with body weight support: benchmarking models and unloading strategies

Apte, S., Plooij, M. & Vallery, H., 2020, In : Journal of NeuroEngineering and Rehabilitation. 17, 1, 16 p., 81.

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
1 Downloads (Pure)

Technology to facilitate walking on two legs: Intreerede prof.dr.ing. H. Vallery

Vallery, H., 21 Feb 2020

Research output: Non-textual formDigital or Visual ProductsPopular

Open Access
2019

A MUltidimensional Compliant Decoupled Actuator (MUCDA) for pelvic support during gait

Wyss, D., Pennycott, A., Bartenbach, P., Riener, R. & Vallery, H., 2019, In : IEEE/ASME Transactions on Mechatronics. 24, 1, p. 164-174 8510818.

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
1 Citation (Scopus)
102 Downloads (Pure)

Assisting gait with free moments or joint moments on the swing leg

Jabeen, S., Berry, A., Geijtenbeek, T., Harlaar, J. & Vallery, H., 2019, Proceedings of the IEEE 16th International Conference on Rehabilitation Robotics (ICORR 2019). Piscataway, NJ, USA: IEEE, p. 1079-1084

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

2 Citations (Scopus)

Augmenting Clinical Outcome Measures of Gait and Balance with a Single Inertial Sensor in Age-Ranged Healthy Adults

O'Brien, M. K., Hidalgo-Araya, M. D., Mummidisetty, C. K., Vallery, H., Ghaffari, R., Rogers, J. A., Lieber, R. & Jayaraman, A., 2019, In : Sensors (Basel, Switzerland). 19, 20, 28 p., 4537.

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
5 Citations (Scopus)
28 Downloads (Pure)

Biarticular muscles are most responsive to upper-body pitch perturbations in human standing

Schumacher, C., Berry, A., Lemus, D., Rode, C., Seyfarth, A. & Vallery, H., 2019, In : Scientific Reports. 9, 1, 14 p., 14492 .

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
4 Citations (Scopus)
93 Downloads (Pure)

Closed-loop control through self-sensing of a Joule-heated twisted and coiled polymer muscle

van der Weijde, J., Vallery, H. & Babuska, R., 1 Oct 2019, In : Soft Robotics. 6, 5, p. 621-630 10 p.

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
2 Citations (Scopus)
4 Downloads (Pure)

Do we need complex rehabilitation robots for training complex tasks?

Penalver-Andres, J., Duarte, J., Vallery, H., Klamroth-Marganska, V., Riener, R., Marchal-Crespo, L. & Rauter, G., 2019, 2019 IEEE 16th International Conference on Rehabilitation Robotics, ICORR 2019. Piscataway, NJ, USA: IEEE, p. 1085-1090

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Open Access
File
45 Downloads (Pure)

Role of trunk inertia in non-stepping balance recovery

Schumacher, C., Berry, A., Seyfarth, A. & Vallery, H., 2019. 2 p.

Research output: Contribution to conferenceAbstractScientific

Open Access
File
4 Downloads (Pure)
2018

Apparatus comprising a support system for a user and its operation in a gravity-assist mode

Plooij, M. & Vallery, H., 2018, IPC No. A61G; A61N; A63B; A61B; A61H; B25J, Priority date 17 Aug 2016, Priority No. WO 2018033591 A2

Research output: Patent

Combining multi-level real-time iterations of Nonlinear Model Predictive Control to realize squatting motions on Leo

Kudruss, M., Koryakovskiy, I., Vallery, H., Mombaur, K. & Kirches, C., 2018, Optimization-online. 8 p.

Research output: Book/ReportReportScientific

Open Access
File
4 Downloads (Pure)

Correction to: Influence of body weight unloading on human gait characteristics: A systematic review

Apte, S., Plooij, M. & Vallery, H., 2018, In : Journal of NeuroEngineering and Rehabilitation. 15, 1, 2 p., 73.

Research output: Contribution to journalArticleProfessional

Open Access
File
1 Citation (Scopus)
16 Downloads (Pure)

Design of RYSEN: An intrinsically safe and low-power three-dimensional overground body weight support

Plooij, M., Keller, U., Sterke, B., Komi, S., Vallery, H. & Von Zitzewitz, J., 2018, In : IEEE Robotics and Automation Letters. 3, 3, p. 2253-2260

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
9 Citations (Scopus)
19 Downloads (Pure)

Directional singularity escape and avoidance for single-gimbal control moment gyroscopes

Valk, L., Berry, A. & Vallery, H., 2018, In : Journal of Guidance, Control, and Dynamics. 41, 5, p. 1095-1107

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
7 Citations (Scopus)
102 Downloads (Pure)

Influence of body weight unloading on human gait characteristics: A systematic review

Apte, S., Plooij, M. & Vallery, H., 2018, In : Journal of NeuroEngineering and Rehabilitation. 15, 1, 18 p., 53.

Research output: Contribution to journalReview articleScientificpeer-review

Open Access
File
11 Citations (Scopus)
38 Downloads (Pure)

Model-plant mismatch compensation using reinforcement learning

Koryakovskiy, I., Kudruss, M., Vallery, H., Babuska, R. & Caarls, W., 2018, In : IEEE Robotics and Automation Letters. 3, 3, p. 2471 - 2477

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
5 Citations (Scopus)
16 Downloads (Pure)
2017

A multidirectional gravity-assist algorithm that enhances locomotor control in patients with stroke or spinal cord injury

Mignardot, J. B., Le Goff, C. G., Van Den Brand, R., Capogrosso, M., Fumeaux, N., Vallery, H., Anil, S., Lanini, J., Fodor, I., Eberle, G., Ijspeert, A. J., Schurch, B., Curt, A., Carda, S., Bloch, J., Von Zitzewitz, J. & Courtine, G., 2017, In : Science Translational Medicine. 9, 399, eaah3621.

Research output: Contribution to journalArticleScientificpeer-review

20 Citations (Scopus)

Apparatus to apply forces in a three-dimensional space

Vallery, H., 2017, IPC No. A61H, Priority date 3 Jul 2015, Priority No. WO 2017005661 A1

Research output: Patent

Benchmarking model-free and model-based optimal control

Koryakovskiy, I., Kudruss, M., Babuška, R., Caarls, W., Kirches, C., Mombaur, K., Schlöder, J. P. & Vallery, H., 2017, In : Robotics and Autonomous Systems. 92, p. 81-90

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
7 Citations (Scopus)
15 Downloads (Pure)

Bio-inspired adaptive control for active knee exoprosthetics

Pagel, A., Ranzani, R., Riener, R. & Vallery, H., 2017, In : IEEE Transactions on Neural Systems and Rehabilitation Engineering. 25, 12, p. 2355-2364

Research output: Contribution to journalArticleScientificpeer-review

4 Citations (Scopus)

Control of motion and compliance

Mombaur, K., Vallery, H., Hu, Y., Buchli, J., Bhounsule, P., Boaventura, T., Wensing, P. M., Revzen, S., Ames, A. D., Poulakakis, I. & Ijspeert, A. J., 2017, Bioinspired Legged Locomotion: Models, Concepts, Control and Applications. Sharbafi, MA. & Seyfarth, A. (eds.). Elsevier, p. 135-346

Research output: Chapter in Book/Conference proceedings/Edited volumeChapterScientific

Design and evaluation of a balance assistance control moment gyroscope

Lemus Perez, D. S., van Frankenhuyzen, J. & Vallery, H., 2017, In : Journal of Mechanisms and Robotics. 9, 5, 9 p., 051007.

Research output: Contribution to journalArticleScientificpeer-review

14 Citations (Scopus)

Evaluation of physical damage associated with action selection strategies in reinforcement learning

Koryakovskiy, I., Vallery, H., Babuška, R. & Caarls, W., 2017, In : IFAC-PapersOnLine. 50, 1, p. 6928-6933

Research output: Contribution to journalConference articleScientificpeer-review

Open Access
File
2 Citations (Scopus)
11 Downloads (Pure)

Influence of internal oscillations on force sensing in coil springs

van der Weijde, J., van Ostayen, R. & Vallery, H., 2017, In : IEEE Robotics and Automation Letters. 2, 3, p. 1466-1471

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
32 Downloads (Pure)

Preserved gait kinematics during controlled body unloading

Awai, L., Franz, M., Easthope, C. S., Vallery, H., Curt, A. & Bolliger, M., 2017, In : Journal of NeuroEngineering and Rehabilitation. 14, 1, 10 p., 25.

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
8 Citations (Scopus)
53 Downloads (Pure)

Robot-supported assessment of balance in standing and walking

Shirota, C., van Asseldonk, E., Matjacic, Z., Vallery, H., Barralon, P., Maggioni, S., Buurke, J. H. & Veneman, J. F., 2017, In : Journal of NeuroEngineering and Rehabilitation. 14, 19 p., 80.

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
12 Citations (Scopus)
31 Downloads (Pure)

Self-sensing of deflection, force, and temperature for joule-heated twisted and coiled polymer muscles via electrical impedance

Van Der Weijde, J., Smit (student), B., Fritschi, M., Van De Kamp, C. & Vallery, H., 2017, In : IEEE - ASME Transactions on Mechatronics. 22, 3, p. 1268-1275

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
21 Citations (Scopus)
184 Downloads (Pure)
2016

A neurorobotic platform for locomotor prosthetic development in rats and mice

von Zitzewitz, J., Asboth, L., Fumeaux, N., Hasse, N., Baud, L., Vallery, H. & Courtine, G., 2016, In : Journal of Neural Engineering. 13, 2, p. 1 - 15 026007.

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
4 Citations (Scopus)
162 Downloads (Pure)

Directional singularity-robust torque control for gyroscopic actuators

Berry, A., Lemus Perez, D. S., Babuska, R. & Vallery, H., 2016, In : IEEE - ASME Transactions on Mechatronics. 21, 6, p. 2755 - 2763

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
15 Citations (Scopus)
43 Downloads (Pure)

Effects of sensory augmentation on postural control and gait symmetry of transfemoral amputees: a case description

Pagel, A., Arieta, AH., Riener, R. & Vallery, H., 2016, In : Medical & Biological Engineering & Computing. 54, 10, p. 1579 - 1589

Research output: Contribution to journalArticleScientificpeer-review

Open Access
10 Citations (Scopus)

Observing the state of balance with a single upper-body sensor

Paiman (student), C., Lemus Perez, D., Short Sotero, D. & Vallery, H., 2016, In : Frontiers In Robotics and AI. 3, 17 p., 11.

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
3 Citations (Scopus)
20 Downloads (Pure)

Reducing the energy consumption of robots using the bidirectional clutched parallel elastic actuator

Plooij, M., Wisse, M. & Vallery, H., 2016, In : IEEE Transactions on Robotics. 32, 6, p. 1512-1523

Research output: Contribution to journalArticleScientificpeer-review

Open Access
File
25 Citations (Scopus)
79 Downloads (Pure)

Reinforcement learning of potential fields to achieve limit-cycle walking

Feirstein (student), D. S., Koryakovskiy, I., Kober, J. & Vallery, H., 2016, Proceedings of the 6th IFAC Workshop on Periodic Control Systems (PSYCO 2016). Nijmeijer, H. (ed.). Elsevier, p. 113-118 (IFAC-PapersOnLine; vol. 49, no. 14).

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Open Access
File
5 Citations (Scopus)
27 Downloads (Pure)

Robotic devices for overground gait and balance training

Hidler, J. M., Stienen, A. H. A. & Vallery, H., 2016, Neurorehabilitation Technology. Reinkensmeyer, D. J. & Dietz, V. (eds.). Second Edition ed. Cham, Switzerland: Springer, p. 483-492

Research output: Chapter in Book/Conference proceedings/Edited volumeChapterScientific

2 Citations (Scopus)
2015

Actuator with angle-dependent elasticity for biomimetic transfemoral prostheses

Pfeifer, S., Pagel, A., Riener, R. & Vallery, H., 2015, In : IEEE - ASME Transactions on Mechatronics. 20, 3, p. 1384-1394 11 p.

Research output: Contribution to journalArticleScientificpeer-review

Open Access
40 Citations (Scopus)

Control strategies for active lower extremity prosthetics and orthotics: A review

Tucker, MR., Olivier, J., Pagel, A., Bleuler, H., Bouri, M., Lambercy, O., del Millán, JR., Riener, R., Vallery, H. & Gassert, R., 2015, In : Journal of NeuroEngineering and Rehabilitation. 12, 1, p. 1-29 29 p.

Research output: Contribution to journalArticleScientificpeer-review

Open Access
246 Citations (Scopus)

Design and evaluation of the bi-directional clutched parallel elastic actuator (BIC-PEA)

Plooij, MC., van Nunspeet, MF., Wisse, M. & Vallery, H., 2015, Proceedings of the 2015 IEEE International Conference on Robotics and Automation. Okamura, A. (ed.). Piscataway, NJ, USA: IEEE Society, p. 1002-1009 8 p.

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Open Access
15 Citations (Scopus)

Force sensing for compliant actuators using coil spring inductance

van der Weijde, JO., Vlasblom, E., Dobbe, P., Vallery, H. & Fritschi, M., 2015, Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems. Knoll, A. & Zhang, J. (eds.). Piscataway, NJ, USA: IEEE Society, p. 2692-2697 6 p.

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Open Access
4 Citations (Scopus)

Guidance in the nullspace reduces task difficulty in robot-assisted coordination training

Waeber, A., Gerig, N., Baur, K., Vallery, H., Lutz, P., Riener, R., Curt, A., Bolliger, M. & Rauter, G., 2015, Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics. Yu, H., Braun, D. & Campolo, D. (eds.). Piscataway, NJ, USA: IEEE Society, p. 642-647 6 p.

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Open Access
2 Citations (Scopus)

The effect of haptic guidance on learning a hybrid rhythmic-discrete motor task

Marchal-Crespo, L., Bannwart, M., Riener, R. & Vallery, H., 2015, In : IEEE Transactions on Haptics. 8, 2, p. 222-234 13 p.

Research output: Contribution to journalArticleScientificpeer-review

Open Access
11 Citations (Scopus)

The role of skill level and motor task characteristics on the effectiveness of robotic training: first results

Marchal-Crespo, L., Wolf, P., Gerig, N., Rauter, G., Jaeger, L., Vallery, H. & Riener, R., 2015, Proceedings of the IEEE/RAS-EMBS International Conference on Rehabilitation Robotics. Yu, H., Braun, D. & Campolo, D. (eds.). Piscataway, NJ, USA: IEEE Society, p. 151-156 6 p.

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Open Access
14 Citations (Scopus)
2014

A body weight support system extension to control lateral forces: Realization and validation

Wyss, D., Bartenbach, V., Pennycott, A., Riener, R. & Vallery, H., 2014, Proceedings of the 2014 IEEE International Conference on Robotics and Automation. Hamel, WR., Wang, Z. & Xi, N. (eds.). Piscataway, NJ, USA: IEEE Society, p. 328-332 5 p.

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Open Access
10 Citations (Scopus)

Cardiovascular control and stabilization via inclination and mobilization during bed rest

Wieser, M., Gisler, S., Sarabadani, A., Ruest, RM., Buetler, L., Vallery, H., Klamroth-Marganska, V., Hund-Georgiadis, M., Felder, M., Schoenberger, JL., Gutknecht, C. & Riener, R., 2014, In : Medical & Biological Engineering & Computing. 52, 1, p. 53-64 12 p.

Research output: Contribution to journalArticleScientificpeer-review

Open Access
12 Citations (Scopus)

Human balance responses to perturbations in the horizontal plane

Fritschi, M., Jelinek, HF., McCloughlin, T., Khalaf, K., Khandoker, AH. & Vallery, H., 2014, Proceedings of the 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Liang, Z-P. & Pan, X. (eds.). Piscataway, NJ, USA: IEEE Society, p. 4058-4061 4 p.

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Open Access
5 Citations (Scopus)

Knee stiffness estimation in physiological gait

Pfeifer, S., Riener, R. & Vallery, H., 2014, Proceedings of the 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. Zhang, YT., Ying, L. & Liang, ZP. (eds.). Piscataway, NJ, USA: IEEE Society, p. 1607-1610 4 p.

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Open Access
12 Citations (Scopus)

Towards gyroscopic balance assistance: Proof of concept

Lemus Perez, DS. & Vallery, H., 2014.

Research output: Contribution to conferencePosterProfessional