Publications by Mohamed Bouri | EPFL Graph Search

Related publications (98)

Review of control strategies for lower-limb exoskeletons to assist gait

Auke Ijspeert, Mohamed Bouri, Romain Pierre François Baud, Ali Reza Manzoori

Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a large range of control methods. The goal of this paper is to review and classify these control strategies, that determine how these devices interact with the user. Met ...

BioMed Central2021

Cable-Driven Robotic Interface for Lower Limb Neuromechanics Identification

Mohamed Bouri

This paper presents a versatile cable-driven robotic interface to investigate the single-joint joint neuromechanics of the hip, knee and ankle in the sagittal plane. This endpoint-based interface offers highly dynamic interaction and accurate position cont ...

2021

An Enhanced Adaptive Time Delay Control-Based Integral Sliding Mode for Trajectory Tracking of Robot Manipulators

Mohamed Bouri

This article proposes an enhanced adaptive time delay controller (ATDC) for robot manipulators subjected to external disturbances. This approach is model-free and uses time delay estimation (TDE) to estimate complex and unknown robot dynamics. First, to re ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Model-Free Iterative Learning Control With Nonrepetitive Trajectories for Second-Order MIMO Nonlinear Systems-Application to a Delta Robot

Mohamed Bouri

A model-free iterative learning control strategy (ILC) in nonrepetitive trajectories, applied to robotic manipulators is presented in this article. The development of this ILC controller is derived in general case for second-order nonlinear multi-input mul ...

2021

State-Based Versus Time-Based Estimation of the Gait Phase for Hip Exoskeletons in Steady and Transient Walking

Auke Ijspeert, Mohamed Bouri, Ali Reza Manzoori

The growing demand for online gait phase (GP) estimation, driven by advancements in exoskeletons and prostheses, has prompted numerous approaches in the literature. Some approaches explicitly use time, while others rely on state variables to estimate the G ...

IEEE2023

Are Functional Measures Sufficient to Capture Acceptance? A Qualitative Study on Lower Limb Exoskeleton Use for Older People

Mohamed Bouri

Lower limb exoskeletons (LLE) are robotic devices developed to assist walk. In the field of healthcare, this technology has been available for almost a decade, yet it still faces important acceptance issues. While LLE were first developed for patients with ...

SPRINGER2022

Non-invasive, Brain-controlled Functional Electrical Stimulation for Locomotion Rehabilitation in Individuals with Paraplegia

Mohamed Bouri, Solaiman Shokur, Miguel Nicolelis

Spinal cord injury (SCI) impairs the flow of sensory and motor signals between the brain and the areas of the body located below the lesion level. Here, we describe a neurorehabilitation setup combining several approaches that were shown to have a positive ...

Nature Research2019

TWIICE One powered exoskeleton: effect of design improvements on usability in daily life as measured by the performance in the CYBATHLON race

Mohamed Bouri, Ali Reza Manzoori

Background Spinal cord injury leading to paraplegia affects the mobility and physiological well-being of one in a thousand people. Powered exoskeletons can temporarily restore the ability to walk. Their relevance in daily life is still limited because of l ...

BioMed Central2022

Precision control of miniature SCARA robots for multi-object spectrographs

Jean-Paul Richard Kneib, Mohamed Bouri, Luzius Gregor Kronig, Ricardo Jorge Araùjo Pereira, Loïc Grossen, Stefane Costa Caseiro

Advances in astronomy led to the demand for measuring the spectra of multiple night sky objects simultaneously. Some of these Multi-Object Spectrographs use robotic systems that position optical fibers in the focal plane of the observing telescope. These s ...

2020

Biomechanical aspects that precede freezing episode during gait in individuals with Parkinson's disease: A systematic review

Mohamed Bouri, Solaiman Shokur

Background: The freezing episode (FE) management during gait in Parkinson's disease is inefficient with current medications, neurosurgery, and physical interventions. Knowing the biomechanical change patients suffer preceding FE would be the ultimate goal ...

ELSEVIER IRELAND LTD2022

Kinematics predictors of spatiotemporal parameters during gait differ by age in healthy individuals

Mohamed Bouri, Solaiman Shokur

Joint biomechanics and spatiotemporal gait parameters change with age or disease and are used in treatment decision-making. Research question: To investigate whether kinematic predictors of spatiotemporal parameters during gait differ by age in healthy ind ...

ELSEVIER IRELAND LTD2022

FeedForward Super-Twisting Sliding Mode Control for Robotic Manipulators: Application to PKMs

Mohamed Bouri

This article deals with the development and implementation of a novel feedforward super-twisting sliding mode controller for robotic manipulators. A full stability analysis based on a Lyapunov candidate is established showing a local asymptotic finite-time ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Walking on the Edge: Brain Connectivity Changes in Response to Virtual Height Challenges

Mohamed Bouri

Virtual reality (VR) environments simulating height offer a unique platform to investigate neural adaptations to emotionally salient contexts during locomotion. These simulations allow for controlled analysis of motor‐cognitive interactions under perceived ...

Wiley2025

Postural Control in Parkinson’s Disease

Mohamed Bouri, Solaiman Shokur

Balance impairment is a common symptom of Parkinson’s disease (PD), suggesting the reclassification of the PD to a tetrad: rest tremor, rigidity, bradykinesia, and balance impairment. Falling is the most evident symptom of inadequate balance. Falls are exp ...

Springer International Publishing2023

Detecting Freezing of Gait in Parkinson's Disease Patient via Deep Residual Network

Mohamed Bouri, Solaiman Shokur

Freezing of Gait (FoG) is a common condition in patients with Parkinson's disease (PD). It often leads to falls, and it severely affects the patient's quality of life. Although the neural mechanism of FoG is not well-known, wearable sensorbased assistive s ...

IEEE2021

Design of an H infinity controller for the Delta robot: experimental results

Mohamed Bouri

This paper deals with an efficient implementation of an H multi-variable controller on the three degrees of freedom (DOF) parallel robot namely the Delta robot'. The H controller is designed by the mixed sensitivity approach in which the sensitivity functi ...

Brill Academic Publishers2015

Experimental evaluation of direct thromboaspiration efficacy according to the angle of interaction between the aspiration catheter and the clot

Mohamed Bouri, Philippe Reymond

Background Successful direct thromboaspiration (DTA) is related to several factors such as clot consistency, size, and location. It has also been demonstrated recently that the angle of interaction (AOI) formed by the aspiration catheter and the clot is re ...

2021

The effects of haptic-virtual reality game therapy on brain-motor coordination for children with hemiplegia: A pilot study

Mohamed Bouri

Children with hemiplegia have movements' difficulties especially in their upper limbs, these difficulties occur due to the loss of the communication between the brain and the affected side of the body. In this study, visual, audio, and tactile stimulation ...

IEEE2017

Gait Phase Estimation in Steady Walking: A Comparative Study of Methods Based on the Phase Portrait of the Hip Angle

Auke Ijspeert, Mohamed Bouri, Ali Reza Manzoori

Accurate real-time estimation of the gait phase (GP) is crucial for many control methods in exoskeletons and prostheses. A class of approaches to GP estimation construct the phase portrait of a segment or joint angle, and use the normalized polar angle of ...

IEEE Xplore2023

Automated Selectivity-Driven Algorithm for Transcutaneous Spinal Cord Stimulation

Riccardo Carpineto, Silvestro Micera, Mohamed Bouri, Solaiman Shokur, Mouhamed Zorkot

Spinal cord injury (SCI) impairs motor function and quality of life. Transcutaneous Spinal Cord Stimulation (tSCS) is a non-invasive method to restore motor function by activating spinal circuits below the lesion. However, its effectiveness is limited by i ...

IEEE2025