Pierre Cherelle

About

Pierre Cherelle is a leading figure in rehabilitation robotics, focusing on the design of compliant, energy-efficient prosthetic feet and exoskeletons. His work centers on integrating biarticular elements and adjustable compliant actuators to enhance human-robot interaction and reduce user effort during locomotion. Cherelle’s most influential contribution is the development of the AMP-Foot 3, a propulsive prosthetic foot with explosive motion characteristics, validated in his 2016 paper (52 citations). He also co-authored the highly cited review "Lock Your Robot: A Review of Locking Devices in Robotics" (2015, 168 citations), which provides a crucial classification and comparative study for robotic designers. His research on the MACCEPA actuation system for gait rehabilitation robots and the use of Proxy-based Sliding Mode Control for safe, compliant guidance has advanced robot-assisted therapy. With over 370 cumulative citations across his top papers, Cherelle’s work bridges biomechanics and robotics, demonstrating how compliant actuators and locking mechanisms can create safer, more effective assistive devices. His achievements include pioneering the AMP-Foot series and contributing to the ALTACRO rehabilitation platform, making him a key innovator in prosthetic and exoskeleton technology.

Research Focus

Key Achievements

Top Papers

1. 1
   Lock Your Robot: A Review of Locking Devices in Robotics

   168 citations · 2015
2. 2
   The AMP-Foot 3, new generation propulsive prosthetic feet with explosive motion characteristics: design and validation

   52 citations · 2016
3. 3
   Biarticular elements as a contributor to energy efficiency: biomechanical review and application in bio-inspired robotics

   51 citations · 2017
4. 4
   The MACCEPA actuation system as torque actuator in the gait rehabilitation robot ALTACRO

   40 citations · 2010
5. 5
   Safe and compliant guidance in robot-assisted gait rehabilitation using Proxy-based Sliding Mode Control

   13 citations · 2009
6. 6
   Case Study on Human Walking during Wearing a Powered Prosthetic Device: Effectiveness of the System “Human-Robot”

   11 citations · 2014
7. 7
   On the use of adaptable compliant actuators in prosthetics, rehabilitation and assistive robotics

   11 citations · 2013
8. 8
   The Role of Compliance in Robot Safety

   11 citations · 2010
9. 9
   A proof-of-concept exoskeleton for robot-assisted rehabilitation of gait

   8 citations · 2009
10. 10
    Use of Compliant Actuators in Prosthetic Feet and the Design of the AMP-Foot 2.0

    6 citations · 2013

Key Collaborators

Contact & Links