Publications de Hannes Bleuler

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Robotic surgery provides many benefits such as reduced invasiveness and increased dexterity. This comes at the cost of no direct contact between surgeon and patient This physical separation prevents surgeons from performing direct haptic exploration of tis ...

While feedback of the grasping force is necessary to manipulate objects skillfully, most Virtual Reality systems do not provide such feedback. Grasping an object is often reduced to pushing a button on the interface. This paper presents the design and realization of a haptic forceps for microsurgery training, and its integration on a haptic 6DOF DELTA device. Psychophysical experiments were first conducted to determine the critical factors for the design. The haptic forceps has similar dimensions as a micro

This paper proposes the concept of FlexPCB(flexible Printed Circuit Board) conductive structure for electrodynamic bearings. It has three main advantages: easy "printing" of considerably thin conductive wires, resulting in potential reduction in stray eddy ...

Task specific mechanism design for spatial linkages has remained a challenge. In this paper we present a kinematic design methodology, which combines the formalism of the Lie Group method with the effectiveness of creativity techniques from ’integrated pro ...

To design, to study, and to control mixed animals-robots societies is a challenging field of scientific exploration that can bring new frameworks to study individual and collective behaviors in animal and mixed robot-animal societies. In the Chicken Robot ...

Cy-Mag3De is a magnetic climbing inspection robot with advanced mobility. It is based on an innovative, award-winning and patented magnetic design. Its mobility is further enhanced thanks to a novel active tail. The robot has a cylindrical shape of 80 mm i ...

This paper proposes an instrumented handle with multimodal augmented haptic feedback, which can be integrated into a conventional white cane to extend the haptic exploration range of visually impaired users. The information extracted from the environment t ...

This paper presents a robotic system that is compatible with anatomical magnetic resonance imaging (MRI) as well as with the more sensitive functional MRI (fMRI), and can safely and smoothly interact with humanmotion during the imaging. The system takes ad ...

One of the big research topics in modern cosmology is the mystery of dark Energy. To unveil the secret, cosmologists want to measure precisely the evolution of large scale structures in the universe. One way of doing so is to measure the 3D location of a h ...

This paper describes the instrumentation of a clinical colonoscope needed for a novel colonoscopy simulation framework. The simulator consists of a compact and portable haptic interface and a virtual reality environment to provide real-time visualization. ...

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 ...

Underwater navigation challenges the research community as a reliable navigation system is unavailable. Correctly matched landmarks could compensate the drift of dead reckoning navigation systems. Furthermore, they could be useful in side scan sonar image ...

We have developed a multi-threaded framework for colonoscopy simulation utilising OpenGL with an interface to a real-time prototype colonoscopy haptic device. A modular framework has enabled us to support multiple haptic devices and efficiently integrate n ...

In this paper we present a motorized hip orthosis to assist elderly people while walking, stair climbing and during the sit-to-stand transitions. The design is based on biomechanics considerations. Ranges of motion, velocities and torques of the hip joint ...

In this paper, a novel configuration of frictionless diamagnetic levitation combined with electrostatic glass motor is presented. A 12.5 mm diameter disc shaped rotor comprised of pyrolytic graphite and glass is fabricated. The rotor disc is levitated stab ...

The large volume and reduced dexterity of current surgical robotic systems are factors that restrict their effective performance. To improve the usefulness of surgical robots in minimally invasive surgery (MIS), a compact and accurate positioning mechanism ...

Performing multi-joint arm movements in controllable dynamic environments during functional magnetic resonance imaging (fMRI) could provide important insights into the brain mechanisms involved in human motor control and related dysfunctions. In order to o ...

A force-sensing device to intraoperatively measure knee joint forces and moments to improve the ligament balancing procedure during total knee arthroplasty has been developed. It consists of two sensitive plates, one for each condyle, a tibial base plate a ...

Hannes Bleuler

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Tactile Feedback Improves Performance in a Palpation Task: Results in a VR-Based Testbed

Design of a haptic forceps for microsurgery training

A Novel Flexible PCB Conductive Structure for Electrodynamic Bearings and Measurement in its Induced Voltage

A Task Specific Kinematic Design Methodology With Application to a 4-DOF Haptic Interface

Towards Mixed Societies of Chickens and Robots

Cy-mag3De: magnetic climbing inspection robot

Augmented White Cane with Multimodal Haptic Feedback

MRI/fMRI-Compatible Robotic System With Force Feedback for Interaction With Human Motion

A 24 mm diameter fibre positioner for spectroscopic surveys

A 2-DOF Friction Drive for Haptic Surgery Simulation of Hysteroscopy

Instrumentation of a Clinical Colonoscope for Surgical Simulation

Exoskeletons as Mechatronic Design Example

Terrain-based Navigation for Underwater Vehicles Using Side Scan Sonar Images

A modular simulation framework for colonoscopy using a new haptic device

A Ball-Screw Driven Motorized Hip Orthosis

Integration of Electrostatic Glass Motor into the UHV Chamber of a Caesium Atomic Clock

Realization of a Diamagnetically Levitating Rotor Driven by Electrostatic Field

Dionis: A novel remote-center-of-motion parallel manipulator for Minimally Invasive Surgery

Multi-Joint Arm Movements to Investigate Motor Control with fMRI

Development of a force amplitude- and location-sensing device designed to improve the ligament balancing procedure in TKA