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student profile: Mr Mounir Boudali

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Thesis work

Thesis title: Identifying the mapping between upper limbs and lower limbs joints coordinates in the human locomotion

Supervisors: Ian MANCHESTER , David RYE

Thesis abstract:

Powered exoskeletons for lower limb rehabilitation meant for patients suffering from hemiplegia and hemiparesis do not achieve a natural and smooth walking motion due to hardware limitations and control algorithms inadequacies. We propose a new method to control this kind of exoskeletons. We consider the use of inter-joint coordination between an arm and its contra-lateral leg in the human gait using canes as walking aids to define a mapping between the different joints and thus to generate the desired trajectories for the powered joints of the exoskeleton. The use of canes will force an arm and its contra-lateral leg to stay coordinated regardless of the walking speed, making it easier to identify the mapping. This framework can be extended to humanoid robots and video games involving human locomotion.

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Selected publications

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Conferences

  • Boudali, A., Kong, F., Martinez, J., Tang, J., Manchester, I. (2017). Design and Modeling of an Open Platform for Dynamic Walking Research. 2017 IEEE International Conference on Mechatronics (ICM), Piscataway: (IEEE) Institute of Electrical and Electronics Engineers.
  • Tang, J., Boudali, A., Manchester, I. (2017). Invariant Funnels for Underactuated Dynamic Walking Robots: New Phase Variable and Experimental Validation. IEEE International Conference on Robotics and Automation (ICRA).
  • Kong, F., Boudali, A., Manchester, I. (2015). Phase-Indexed ILC for Control of Underactuated Walking Robots. 2015 IEEE Conference on Control and Applications (CCA 2015), Piscataway: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]

2017

  • Boudali, A., Kong, F., Martinez, J., Tang, J., Manchester, I. (2017). Design and Modeling of an Open Platform for Dynamic Walking Research. 2017 IEEE International Conference on Mechatronics (ICM), Piscataway: (IEEE) Institute of Electrical and Electronics Engineers.
  • Tang, J., Boudali, A., Manchester, I. (2017). Invariant Funnels for Underactuated Dynamic Walking Robots: New Phase Variable and Experimental Validation. IEEE International Conference on Robotics and Automation (ICRA).

2015

  • Kong, F., Boudali, A., Manchester, I. (2015). Phase-Indexed ILC for Control of Underactuated Walking Robots. 2015 IEEE Conference on Control and Applications (CCA 2015), Piscataway: (IEEE) Institute of Electrical and Electronics Engineers. [More Information]
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