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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 ...

Maintaining balance during walking is a critical yet under-addressed challenge in the control of lower-limb exoskeletons, especially for users with progressive neurological conditions such as multiple sclerosis and muscular dystrophy. While assist-as-needed strategies have enabled flexible support in the sagittal plane, most exoskeletons lack active control in the frontal plane, limiting their ability to support mediolateral (ML) balance. In this study, we introduce a 3D Path Control strategy that enables c

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 ...

Characterization of gait is largely used for research on locomotion or for clinical improvement and follow up. There exists two main technologies for measurement of the kinematics of walking: IMU systems and optical tracking. Inertial measurement units are getting more and more popular because of their integrability, cost and lack of spatial limitations. Despite these advantages, optical motion tracking solutions offer a higher precision which is for various applications such as kinetics analysis. In that s

The 2024 ICORR-SASNET Ghana Neurorehabilitation Robotics workshop, convened on March 15-16, 2024, in Accra, Ghana, brought together 22 speakers and 27 attendees from nine countries to address the pressing need for enhanced access to neurorehabilitation services and rehabilitation robotics in Africa. Low- and Middle-Income Countries (LMICs) face substantial challenges in providing adequate rehabilitation services. This exacerbates the burden of disability and impedes the recovery and quality of life of indiv

Neuromuscular controllers (NMCs) offer a promising approach to adaptive and task-invariant control of exoskeletons for walking assistance, leveraging the bioinspired models based on the peripheral nervous system. This article expands on our previous develo ...

MegaMapper is a 6.5m Magellan-like telescope fitted with a wide-field-corrector (WFC) and atmospheric-dispersion-corrector (ADC) that delivers a 3. diameter corrected field-of-view. The telescope's focal surface is populated by similar to 25, 000 robotic f ...

Robotic surgery is a promising direction to improve surgeons and assistants’ daily life with respect to conventional surgery. In this work, we propose solo laparoscopic surgery in which two robotic arms, controlled via haptic foot interfaces, assist the ta ...

Hip exoskeletons are increasing in popularity due to their effectiveness across various scenarios and their ability to adapt to different users. However, personalizing the assistance often requires lengthy tuning procedures and computationally intensive algorithms, and most existing methods do not incorporate user feedback. In this work, we propose a novel approach for rapidly learning users' preferences for hip exoskeleton assistance. We perform pairwise comparisons of distinct randomly generated assistive

MOSAIC is the Multi-Object Spectrograph (MOS) for the 39m Extremely Large Telescope (ELT) of the European Southern Observatory (ESO), with unique capabilities in terms of multiplex, wavelength coverage and spectral resolution.It is a versatile multi-object ...

Background :Sensory reafferents are crucial to correct our posture and movements, both reflexively and in a cognitively driven manner. They are also integral to developing and maintaining a sense of agency for our actions. In cases of compromised reafferen ...

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 ...

The population ageing implies an increasing need for support especially in terms of mobility. Actuated orthoses offer new possibilities to assist walking by compensating the diminished muscular force which occurs with age. In order to assist efficiently the user, the orthotic device needs to provide torque without constraining the voluntary movements. Transparency is therefore a critical characteristic. A first implementation of such a device using a conventional actuation is presented and its limitations a

BackgroundInterventional neuroradiologists currently miss crucial information when facing an ischaemic stroke case as they cannot localise the thrombus precisely nor determine its mechanical properties, which are both important for the clot extraction procedure.MethodsIn this in vitro study, clot analogues of different stiffnesses and dimensions were inserted in an idealised arterial phantom using distinct insertion pressure levels. Guidewire‐clot interaction forces were recorded using a robotic device equi

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 ...

En rééducation motrice il est essentiel de travailler un mouvement ou un ensemble de mouvements de manière précise et aussi physiologique que possible. Pour la rééducation de la marche, cette exigence est à l’origine de méthodes d’entraînement sur tapis roulant. La mise en oeuvre de cette technique demande aux thérapeutes beaucoup de temps et d'énergie. Le contrôle du mouvement des membres inférieurs par les thérapeutes est d’autant plus difficile que l’atteinte motrice est importante. Une robotisation du d

Robot motion controllers consist of a very important component in a robotic infrastructure. The flexibility is more and more needed to allow fastness in development and adaptation from one robot to another. The laboratory of robotic systems of the Ecole Po ...

Learning from demonstrations (LfD) enables humans to easily teach collaborative robots (cobots) new motions that can be generalized to new task configurations without retraining. However, state-of-the-art LfD methods require manually tuning intrinsic param ...

"MotionMakertrade" is a stationary programmable test and training system for the lower limbs developed at the 'Ecole Polytechnique Federale de Lausanne' with the 'Fondation Suisse pour les Cybertheses'. The system is composed of two robotic orthoses compri ...

A system of 5020 robotic fiber positioners was installed in 2019 on the Mayall Telescope, at Kitt Peak National Observatory. The robots automatically retarget their optical fibers every 10-20 minutes, each to a precision of several microns, with a reconfig ...

Mohamed Bouri

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

3D Path Control: Can we use lower limb inter-joint coordination to assist gait and balance?

Automated Selectivity-Driven Algorithm for Transcutaneous Spinal Cord Stimulation

A robotic platform for lower limb optical motion tracking in open space

Pragmatic recommendations to improve access to rehabilitation robots, assistive technologies and neurorehabilitation services in Africa: proceedings from ICORR-SASNET Ghana neurorehabilitation workshop, 2024

Novel neuromuscular controllers with simplified muscle model and enhanced reflex modulation: A comparative study in hip exoskeletons

MegaMapper: Concept and Optical Design for a 6.5 m Aperture Massively Multiplexed Spectroscopic Facility

Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces

Rapid Online Learning of Hip Exoskeleton Assistance Preferences

MOSAIC at the ELT: a unique instrument for the largest ground-based telescope

Augmenting locomotor perception by remapping tactile foot sensation to the back

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

A Double-differential Actuation for an Assistive Hip Orthosis

Potential of Guidewire‐Clot Interaction Forces for Clot Detection in Robotic Mechanical Thrombectomy

Iterative learning control for trajectory tracking of a parallel Delta robot

Conception de dispositifs de rééducation motrice et d’assistance à la marche associant orthèse et électromyostimulation transcutanée rétrocontrôlée (Cyberthèse).

A Windows PC based robot controller: An open architecture

TEAM: A Parameter-Free Algorithm to Teach Collaborative Robots Motions from User Demonstrations

Improvement of rehabilitation possibilities with the MotionMaker™

The Robotic Multiobject Focal Plane System of the Dark Energy Spectroscopic Instrument (DESI)