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Mohamed Bouri

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Publications associées (98)

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Nonlinear PD control of a Parallel Delta robot: Expermentals Results

Mohamed Bouri

In this paper, a nonlinear proportional derivative control (NPD) is proposed to solve the trajectory tracking problem of a parallel Delta robot. In order to handle the strong coupling effect and external disturbances as well as to realise high-precision tr ...

IEEE2018

Brain-actuated gait trainer with visual and proprioceptive feedback

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

Objective. Brain-machine interfaces (BMIs) have been proposed in closed-loop applications for neuromodulation and neurorehabilitation. This study describes the impact of different feedback modalities on the performance of an EEG-based BMI that decodes moto ...

Institute of Physics2017

Mechanisms for actuated assistive hip orthoses

Hannes Bleuler, Mohamed Bouri, Jeremy Olivier, Amalric Louis Ortlieb

Mobility is often a central problem for people having muscle weaknesses. The need for new devices to assist walking and walk related activities is therefore growing. Lower limb actuated orthoses have already proven their positive impact with paraplegic pat ...

Elsevier2014

Series Elastic Actuation for Assistive Orthotic Devices: Case Study of Pneumatic Actuator

Hannes Bleuler, Mohamed Bouri, Jonathan Olivier, Amalric Louis Ortlieb

Wearable assistive robotics is a modern field where intelligent actuated systems work in collaboration with the body to replace a lost limb, to enhance performances (e.g. carrying load, walking, running, jumping) or to train or rehabilitate specific activi ...

Springer-Verlag Berlin2016

Cyberthèse. Mise en oeuvre d'un nouveau concept de rééducation pour paraplégiques

Mohamed Bouri, Reymond Clavel, Patrick Métrailler, Carl Schmitt, Jacques Fournier

Robots are excellent tools for providing motion. Their motion is precise, stiff and as repeatable as needed. This led the Swiss Foundation for Cyberthosis (SFC) to exploit robotics jointly with the muscle electrostimulation as intelligent rehabilitation de ...

2007

Preliminary Study: Effects of Visual Distortion on Standing Balance Motion Amplitude and Visual Dependency on an Unstable Surface

Olaf Blanke, Hannes Bleuler, Mohamed Bouri, Jemina Fasola

Visual feedback is a common method to enhance motor learning and is widely used in rehabilitation institutes. Although balance training with visual feedback has shown positive results, the most effective way to provide the feedback is still open to researc ...

2018

Pelvic motion measurement during over ground walking, analysis and implementation on the WalkTrainer reeducation device

Mohamed Bouri, Reymond Clavel, Patrick Métrailler, Jacques Fournier

Pelvic motions are of great importance while walking, and have thus to be taken into account when developing and controlling rehabilitation devices. This paper will first introduce a new reeducation devices for paraplegic people: the WalkTrainer. This devi ...

2008

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

Aude Billard, Mohamed Bouri, Walid Amanhoud, Jacob Hernandez Sanchez

Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as requi ...

2021

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

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

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

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

INSPIIRE - A Modular and Passive Exoskeleton to Investigate Human Walking and Balance

Mohamed Bouri, Romain Pierre François Baud

Powered exoskeletons for SCI patients are mainly limited by their inability to balance dynamically during walking. To investigate and understand the control strategies of human bipedal locomotion, we developed INSPIIRE, a passive exoskeleton. This device c ...

IEEE2023

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

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

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

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

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

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

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

Olaf Blanke, Hannes Bleuler, Mohamed Bouri, 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

Adaptive hip exoskeleton control using heart rate feedback reduces oxygen cost during ecological locomotion

Auke Ijspeert, Mohamed Bouri, Ali Reza Manzoori

Despite their potential, exoskeletons have not reached widespread adoption in daily life, partly due to the challenge of seamlessly adapting assistance across various tasks and environments. Task-specific designs, reliance on complex sensing and extensive ...

Nature Research2025

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

Auke Ijspeert, Mohamed Bouri, Jemina Fasola, Romain Pierre François Baud, 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

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

Auke Ijspeert, Mohamed Bouri, Jemina Fasola, Romain Pierre François Baud, 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

Effect of Medication and Freezing of Gait on Rambling and Trembling in Quiet Standing in Individuals With Parkinson's Disease

Mohamed Bouri, Solaiman Shokur

Background: Individuals with Parkinson's disease (PD) with freezing of gait (FoG) exhibit difficulty with changes in sensory input, indicating a potential sensorimotor integration deficit. Understanding how levodopa impacts balance particularly in FoG, is ...

HUMAN KINETICS PUBL INC2025

EXiO-A Brain-Controlled Lower Limb Exoskeleton for Rhesus Macaques

Hannes Bleuler, Mohamed Bouri, Miguel Nicolelis, Jeremy Olivier, Tristan Hubert Vouga

Recent advances in the field of brain-machine interfaces (BMIs) have demonstrated enormous potential to shape the future of rehabilitation and prosthetic devices. Here, a lower-limb exoskeleton controlled by the intracortical activity of an awake behaving ...

Ieee-Inst Electrical Electronics Engineers Inc2017

Assessing Balance During Gait with a Lower Limb Exoskeleton

Adrien Matteo Eloi Sizaret, Auke Ijspeert, Mohamed Bouri, Zeynep Ozge Orhan

Maintaining balance is a critical aspect of human gait, especially for individuals with balance deficiencies. Accurate assessment and monitoring of balance are essential to reduce the risk of falls and improve mobility outcomes. Individuals with balance im ...

Springer Nature Switzerland2025