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Mohamed Bouri

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Related publications (100)

The Industrialization of Astronomical Instrumentation: An Industrial Systems and Process Engineering Perspective

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

The Sloan Digital Sky Survey V (SDSS-V) is an all-sky spectroscopic survey of > 6 million objects, designed to decode the history of the Milky Way, reveal the inner workings of stars, investigate the origin of solar systems, and track the growth of superma ...

SPIE-INT SOC OPTICAL ENGINEERING2020

Precision control of miniature SCARA robots for multi-object spectrographs

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

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

Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users

Mohamed Bouri, Auke Ijspeert, Romain Pierre François Baud, Jemina Fasola, Tristan Hubert Vouga

Several lower-limb exoskeletons enable overcoming obstacles that would impair daily activities of wheelchair users, such as going upstairs. Still, as most of the currently commercialized exoskeletons require the use of crutches, they prevent the user from ...

2020

Bio-inspired adaptive impedance based controller for human-robot interaction and method

Mohamed Bouri, Amalric Louis Ortlieb, Peter Lichard, Benoît Walter Denkinger, Tommaso Tracchia

The method for controlling a single- or multi- powered robotic system, such as an exoskeleton, a prosthesis or a collaborative robot, that is physically interacting with a user, said system comprising at least one actuated joint; wherein the robot joint(s) ...

2020

Optical test procedure for characterization and calibration of robotic fiber positioners for multiobject spectrographs

Mohamed Bouri, Luzius Gregor Kronig, Philipp Hörler, Jean-Paul Richard Kneib, Loïc Grossen, Ricardo Jorge Araùjo Pereira

The recent burgeoning interest in massive multiobject spectroscopy has pushed the development of massive optical fiber positioning systems. These systems rely on precise fiber placement to detect the light spectra of many stars and galaxies. One successful ...

2020

Experimental evaluation of complete safe coordination of astrobots for Sloan Digital Sky Survey V

Denis Gillet, Mohamed Bouri, Luzius Gregor Kronig, Jean-Paul Richard Kneib, Loïc Grossen, Matin Macktoobian, Ricardo Jorge Araùjo Pereira

The data throughput of massive spectroscopic surveys in the course of each observation is directly coordinated with the number of optical fibers which reach their target. In this paper, we evaluate the safety and the performance of the astrobots coordinati ...

2020

Iterative learning control of multivariable uncertain nonlinear systems with nonrepetitive trajectory

Mohamed Bouri

Iterative learning control (ILC) theory is based on the traditional assumptions of resetting condition and repetitive trajectory. To overcome these restrictions, a novel ILC is developed in this paper for MIMO uncertain nonlinear systems subject to externa ...

SPRINGER2019

Balance Control Strategies during Standing in a Locked-Ankle Passive Exoskeleton

Hannes Bleuler, Mohamed Bouri, Romain Pierre François Baud, Jemina Fasola, Tristan Hubert Vouga

This paper investigates sensorimotor adaptation strategies of sagittal postural control in healthy subjects under kinematic constraints. A passive exoskeleton named CAPTUR, with locked ankle joints and legs motion restrained to the sagittal plane is used t ...

IEEE2019

Bio-inspired design and validation of the Efficient Lockable Spring Ankle (ELSA) prosthesis

Mohamed Bouri, Bruno Dehez, Renaud Ronsse, François André Heremans

Over the last decade, active lower-limb prostheses demonstrated their ability to restore a physiological gait for transfemoral amputees by supplying the required positive energy balance during daily life locomotion activities. However, the added-value of s ...

IEEE2019

Error Augmentation Improves Visuomotor Adaptation during a Full-Body Balance Task

Hannes Bleuler, Mohamed Bouri, Olaf Blanke, Oliver Alan Kannape, Jemina Fasola

Visual amplification of kinematic errors has successfully been applied to improve performance for upper limb movements. In this study, we investigated whether visual error augmentation can promote faster adaptation during a full-body balance task. Healthy ...

IEEE2019

Four-Arm Manipulation via Feet Interfaces

Hannes Bleuler, Mohamed Bouri, Aude Billard, Walid Amanhoud, Anaïs Betsabeh Haget, Jacob Hernandez Sanchez

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 ...

AAAI2019

A New Time-Varying Feedback RISE Control of PKMs: Theory and Application

Mohamed Bouri

In this paper, we propose a novel time-varying feedback control strategy based on the Robust Integral of the Sign of the Error (RISE). The main motivation is to enhance the tracking performance of RISE controller at high dynamic operating conditions. RISE ...

IEEE2019

Bio-inspired standing balance controller for a full-mobilization exoskeleton

Mohamed Bouri, Auke Ijspeert, Romain Pierre François Baud, Jemina Fasola, Tristan Hubert Vouga

This paper presents a novel method to perform automatic standing balance in a full mobilization exoskeleton. It exploits the locked ankle and the curved foot sole of the exoskeleton TWIICE. The idea is to use the knees to roll the sole and change the posit ...

IEEE2019

Iterative Learning Control of a Parallel Delta Robot

Mohamed Bouri

In this work, an iterative learning control (ILC) is applied to a Delta robot in order to improve the tracking precision at high dynamic movement. Delta robot is a parallel manipulator designed for high-speed pick and place operations. Since the dynamic of ...

SPRINGER2019

Exoskeletons as Mechatronic Design Example

Hannes Bleuler, Mohamed Bouri, Solaiman Shokur, Jeremy Olivier, Amalric Louis Ortlieb, Romain Pierre François Baud, Jemina Fasola, Tristan Hubert Vouga

Exoskeletons are a perfect example of a mechatronics product. They illustrate the close integration and interdependence of mechanical design, drive train, sensors, control strategy and user interface. Recent developments of our lab will be discussed in det ...

SPRINGER INTERNATIONAL PUBLISHING AG2019

Iterative learning control for trajectory tracking of a parallel Delta robot

Mohamed Bouri

This paper proposes an iterative learning controller (ILC) under the alignment condition for trajectory tracking of a parallel Delta robot, that performs various repetitive tasks for palletization. Motivated by the high cadence of our application that lead ...

WALTER DE GRUYTER GMBH2019

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

EEG-based lower-limb movement onset decoding: Continuous classification and asynchronous detection

Mohamed Bouri, Ricardo Andres Chavarriaga Lozano, José del Rocio Millán Ruiz, Kyuhwa Lee, Fumiaki Iwane, Dong Liu

Brain-machine interfaces (BMIs) have been used to incorporate the user intention to trigger robotic devices by decoding movement onset from electroencephalography (EEG). Active neural participation is crucial to promote brain plasticity thus to enhance the ...

2018

Closed-Loop Functional Electrical Stimulation for Gait Training for Patients with Paraplegia

Mohamed Bouri, Solaiman Shokur

This paper presents a novel functional electrical stimulation paradigm to generate locomotion in paraplegic patients. We propose a closed-loop surface functional electrical stimulation (sFES) of 16 lower-limb muscles to produce all subphases of the gait. T ...

IEEE2018

A new RISE-based adaptive control of PKMs: design, stability analysis and experiments

Mohamed Bouri, Laurent Frédéric Jenni

2018

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