This paper presents a novel reeducation device for paraplegics that combines hybrid orthoses and closed-loop electrical muscle stimulation. Based on the so called Cyberthosis concept, the WalkTrainer enables an active muscular participation of the subject in the walking reeducation process by the mean of closed-loop muscle stimulation. The WalkTrainer is also equipped with a leg and pelvic orthosis, an active bodyweight support, and motorized wheels to allow true over ground deambulation. This paper will focus on the development of the WalkTrainer, the presentation of the control strategies, and also give some preliminary results of the first clinical trials.

Robots are excellent tools for providing motion. Their motion is precise, stiff and as repeatable as we need. This led the Swiss Foundation for Cyberthosis (SFC) to exploit robotics jointly with the muscle electrostimulation as intelligent rehabilitation devices. This paper will present one of this devices developed by the "Laboratoire des Systemes Robotiques (LSRO) at the EPFL (Ecole Polytechnique Federale de Lausanne). This device called "The WalkTrainerlM" is a robotic rehabilitation system composed by a deambulator, a pelvis orthosis, a body weight support, two leg orthoses and a real time controlled electrostimulator. The WalkTrainerlM is a verticalized system

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We introduce the Python-based open-source library Energym, a building model library to test and benchmark building controllers. The incorporated building models are presented with a brief explanation of their function, location and technical equipment. Furthermore, the library structure is described, highlighting the necessary features to provide the benchmarking and control capabilities, i.e., standardized evaluation scenarios, key performance indicators (KPIs) and forecasts of uncertain variables. We go on to characterize the evaluation scenarios for each of the models and give formal definitions of the KPIs. We describe the calibration methodologies used for constructing the models and illustrate their usage through examples.

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