Publications de Mohamed Bouri | EPFL Graph Search

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In the operational theater, the surgical team could highly benefit from a robotic supplementary hand under the surgeon's full control. The surgeon may so become more autonomous; this may reduce communication errors with the assistants and take over difficult tasks such as holding tools without tremor. In this paper, we therefore examine the possibility to control a third robotic hand with one foot's movements. Three experiments in virtual reality were designed to assess the feasibility of this control strat

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 ...

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 ...

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 ...

Spinal cord injury (SCI) severely impairs motor function and quality of life. Transcutaneous spinal cord stimulation (tSCS) has emerged as a promising non-invasive neuromodulation technique to restore voluntary motor function by engaging spinal circuits below the lesion. While standard tonic tSCS with a single electrode at T11–T12 offers limited gait-specific selectivity, recent studies show that multi-electrode configurations can recruit better proximal and distal muscles on the ipsilateral side. However,

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

Gait phase (GP) estimation is a critical component in control of exoskeletons and prostheses, enabling seamless user interaction in various controllers. In recent years, methods based on machine learning and sensor fusion have offered advances in GP estimation, but their high computational costs and reliance on training and numerous sensors present practical challenges. Estimation methods using phase variables, such as phase-portrait-based methods, can circumvent these drawbacks. However, their lower accura

Mohamed Bouri

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Control of a Supernumerary Robotic Hand by Foot: An Experimental Study in Virtual Reality

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

Cable-Driven Robotic Interface for Lower Limb Neuromechanics Identification

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

Improving muscle recruitment via multi-electrode transcutaneous spinal cord stimulation using automated selectivity-driven algorithms

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

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

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

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

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

Precision control of miniature SCARA robots for multi-object spectrographs

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

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

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

Postural Control in Parkinson’s Disease

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

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

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

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

Human-in-the-Loop Optimization for Terrain-and User-Adaptive Gait Phase Estimation in Phase-Portrait-Based Methods