Publications by Hannes Bleuler

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Force/torque sensors compatible with magnetic resonance imaging (MRI) are required to develop haptic interfaces for neuroscientific investigations and robotic tools for interventional MRI. In this paper, we analyze the mechanical structure of classical and MRI compatible sensors from literature and demonstrate the critical role of the mechanical design on the sensing performance. A simple and efficient torque sensor based on light intensity measurement over optical fibers is introduced, which allows to plac

HiBSO is an active orthosis designed to assist the hip flexion-extension of the elderly. A fully autonomous system with untethered power electronics and energy supply is now available. Going beyond the restricted walking conditions of a treadmill unveils m ...

A train-like miniature climbing inspection robot for ferromagnetic tubes is presented in this paper. Using magnetic wheels, it climbs in tubes of 25 mm of diameter and bigger in any orientation, and pass bends with curvatures above 150 mm in some cases. It ...

Some of the next generation massive spectroscopic survey projects, plan to use thousands of fiber positioner robots packed at a focal plane to quickly move in parallel the fiber-ends from the previous to the next target points. The most direct trajectories ...

We are developing haptic interfaces compatible with functional magnetic resonance imaging (fMRI) to study the brain mechanisms of motor control in humans. This paper describes the different phases of our project, examines the constraints and presents possible solutions. The constraints imposed by the harsh yet sensitive MR environment as well as the smooth and safe control required for interaction with human motion demand a novel robotic technology. Our concept is based on a hydrostatic masterslave system

SLAM is a prominent feature for autonomous robots operating in undefined environments. Applications areas such as consumer robotics appliances would clearly benefit from low-cost and compact SLAM implementations. The SLAM research community has developed s ...

Functional brain exploration methodologies such as functional magnetic resonance imaging (fMRI) are critical tools to study perceptual and cognitive processes. In order to develop complex and well-controlled fMRI paradigms, researchers are interested in us ...

Observation of lower limb kinematics is essential for the characterization of gait and related activities disorders. Robust, flexible and easy to use measurement systems are precious for patients’ follow-up in different medical domains. This study aims to characterize a lower limb optical tracking system based on one detector and seven active markers. Post-processing, which includes skeleton reconstruction and joints’ angular position calculation, is integrated as part of the data acquisition approach. Eval

We seek to augment human manipulation by enabling humans to control two robotic arms in addition to their natural arms using their feet. Thereby, the hands are free to perform tasks of high dexterity, while the feet-controlled arms perform tasks requiring ...

Training for colonoscopy, which is the examination and treatment of the colon, is often performed on real patients once the physician has passed the novice level. This increases the risk to the patient and lengthens the procedure time. Since a decade ago, ...

Currently available foot interfaces to command an external assistive robotic arm for laparoscopic surgery typically consist of a couple of push buttons placed on a planar platform. In this paper, we develop and compare two foot interfaces implementing isot ...

Ligament balancing in total knee arthroplasty may have an important influence on joint stability and prosthesis lifetime. In order to provide quantitative information and assistance during ligament balancing, a device that intraoperatively measures knee jo ...

This paper proposes a novel full passive magnetic levitation motor without active magnetic suspension. It has a magnetic levitation unit and a motor unit. The Halbach array permanent magnets and a pyrolytic graphite (PG) disk realize the full passive magne ...

Powered orthoses are leading to an imminent change in the field of assistance. The major challenges faced by the technology concern the management of the interaction between the user and the wearable device and the coordination between the user intention a ...

Mobility is often a central problem for people having muscle weaknesses. The need for new devices to assist walking and walk related activities is therefore growing. Lower limb actuated orthoses have already proven their positive impact with paraplegic pat ...

Wearable assistive robotics is a modern field where intelligent actuated systems work in collaboration with the body to replace a lost limb, to enhance performances (e.g. carrying load, walking, running, jumping) or to train or rehabilitate specific activi ...

There is a wide class of electrochemical systems which present a sudden transition from a high to a low reaction rate region in function of an external parameter. This sudden transition is accompanied by the growth of a surface structure responsible for deactivation of the process. Analysing a simple phenomenological model of a generic surface process shows that the growth of this deactivating structure implies a hysteresis according a forward and reverse scan in the external control parameter. Application

This paper describes the development of a 2-DOF electrostatic haptic joystick designed for neuroscience studies in an MRI/fMRI. The joystick is fabricated using non-magnetic materials and actuated by two high-power electrostatic motor units which produce v ...

Visual feedback is a common method to enhance motor learning and is widely used in rehabilitation institutes. Although balance training with visual feedback has shown positive results, the most effective way to provide the feedback is still open to researc ...

Climbing robots require an adhesion principle in order to overcome gravity. Many physical principles have been used. In this work, the use of thermal glue is proposed. The implementation of miniature thermal glue dispenser is presented with experimental re ...

Hannes Bleuler

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Design of a simple MRI/fMRI compatible force/torque sensor

HiBSO Hip Exoskeleton: Toward a Wearable and Autonomous Design

Tubulo - a train-like miniature inspection climbing robot for ferromagnetic tubes

Collision avoidance in next-generation fiber positioner robotic systems for large survey spectrographs

fMRI Compatible Haptic Interfaces to Investigate Human Motor Control

Affordable SLAM through the Co-Design of Hardware and Methodology

Active Mechatronic Interface for Haptic Perception Studies with Functional Magnetic Resonance Imaging: Compatibility and Design Criteria

Evaluation of an active optical system for lower limb motion tracking

Four-Arm Manipulation via Feet Interfaces

A Haptic Interface with Motor/Brake System for Colonoscopy Simulation

Development and Comparison of Foot Interfaces for Controlling a Robotic Arm in Surgery

Ligament balancing in TKA: Evaluation of a force-sensing device and the influence of patellar eversion and ligament release

Principles and Test Result of Novel Full Passive Magnetic Levitation Motor with Diamagnetic Disk

Influence of an Assistive Hip Orthosis on Gait

Mechanisms for actuated assistive hip orthoses

Series Elastic Actuation for Assistive Orthotic Devices: Case Study of Pneumatic Actuator

A phenomenological model for macroscopic deactivation of surface processes

Development of a 2-DOF Electrostatic Haptic Joystick for MRI/fMRI Applications

Preliminary Study: Effects of Visual Distortion on Standing Balance Motion Amplitude and Visual Dependency on an Unstable Surface

Climbing robot with thermal glue