Publications de Roger Gassert | EPFL Graph Search

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Robotic interfaces can dynamically interact with humans performing movements and can be used to study neuromuscular adaptation. Such devices can produce computer controlled dynamics during movement and measure the interaction force and movement trajectory. ...

The choice of an adequate actuation method is a central issue in the development of any mechatronic device and strongly determines the dynamic performances of the system. This choice is particularly difficult for robotic systems working within a magnetic r ...

Humans experience the self as localized within their body. This aspect of bodily self-consciousness can be experimentally manipulated by exposing individuals to conflicting multisensory input, or can be abnormal following focal brain injury. Recent technol ...

The Nine Hole Peg Test (NHPT) is routinely used in clinical environments to evaluate a patient’s fine hand control. A physician measures the total time required to insert nine pegs into nine holes and obtains information on the dexterity of the patient. Ev ...

This paper presents a safe, electrically powered MR-compatible actuator with a large range of output impedance, which can be used at the entry of the scanner bore. This actuator is composed of an ultrasonic motor (USM) and a torque-controlled electrorheolo ...

This paper reports a new MRI (Magnetic Resonance Imaging) compatible actuator that can operate near an MRI without degrading its imaging quality. A high-power electrostatic motor is introduced and its MR-compatibility is examined, both experimentally and t ...

The introduction of Minimally Invasive Surgery (MIS) has revolutionised surgical care, considerably improving the quality of many surgical procedures. Technological advances, particularly in robotic surgery systems, have reduced the complexity of such an a ...

This paper describes a two-degrees-of-freedom haptic interface to investigate the brain mechanisms of human motor control, which is capable of safely and gently interacting with human arm motion during functional magnetic resonance imaging (fMRI). A hydros ...

During traditional open procedures, surgeons directly palpate tissues before dissecting them. In this way, they can avoid the accidental damage of hidden arteries that can lead to fatal hemorrhage. New Minimally Invasive Surgical (MIS) techniques progressi ...

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

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

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 ...

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 ...

In this paper, we describe a biomimetic-fabric-based sensing glove that can be used to monitor hand posture and gesture. Our device is made of a distributed sensor network of piezoresistive conductive elastomers integrated into an elastic fabric. This solu ...

Minimally invasive surgical approaches have revolutionized surgical care and considerably improved surgical outcomes. The instrumentation has changed significantly from open to laparoscopic and robotic surgery with various usability and ergonomics qualitie ...

Using haptic interfaces in combination with functional magnetic resonance imaging (fMRI) could lead to important insights into the brain mechanisms of human motor control and related dysfunctions. However, in addition to the usual requirements for haptic i ...

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 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 ...

Roger Gassert

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MR-compatible robotics to investigate human motor control

Actuation Methods for Applications in MR Environments

Neuroscience robotics to investigate multisensory integration and bodily awareness

Haptic/VR Assessment Tool for Fine Motor Control

A hybrid ultrasonic motor and electrorheological fluid clutch actuator for force-feedback in MRI/fMRI

Evaluation of MR-Compatibility of Electrostatic Linear Motor

Influence of force and torque feedback on operator performance in a VR-based suturing task

A 2-DOF fMRI compatible haptic interface to investigate the neural control of arm movements

Design and Psychophysical Evaluation of a Tactile Pulse Display for Teleoperated Artery Palpation

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

fMRI Compatible Haptic Interfaces to Investigate Human Motor Control

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

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

Sensing clove for brain studies: Design and assessment of its compatibility for fMRI with a robust test

Survey on Surgical Instrument Handle Design: Ergonomics and Acceptance

Hybrid Ultrasonic Motor and Electrorheological Clutch System for MR-Compatible Haptic Rendering

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

Design of a haptic forceps for microsurgery training

Augmented White Cane with Multimodal Haptic Feedback

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