Publications de Mohamed Bouri | EPFL Graph Search

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HiBSO is an active orthosis designed to assist the hip flexion-extension of the elderly. A fully autonomous system with untethered power electronics and energy supply is now available. Going beyond the restricted walking conditions of a treadmill unveils m ...

Background Following spinal cord injury (SCI), powered exoskeletons have been shown to enable assisted walking and may also positively impact secondary health conditions. The TWIICE exoskeleton is intended to enable individuals with SCI to train at home or in community during their activities of daily living under the supervision of a therapist. The aim of this pilot clinical trial was to assess the safety and feasibility of the TWIICE powered exoskeleton for assisted ambulation in a clinical setting. Metho

Some of the next generation massive spectroscopic survey projects, plan to use thousands of fiber positioner robots packed at a focal plane to quickly move in parallel the fiber-ends from the previous to the next target points. The most direct trajectories ...

Observation of lower limb kinematics is essential for the characterization of gait and related activities disorders. Robust, flexible and easy to use measurement systems are precious for patients’ follow-up in different medical domains. This study aims to characterize a lower limb optical tracking system based on one detector and seven active markers. Post-processing, which includes skeleton reconstruction and joints’ angular position calculation, is integrated as part of the data acquisition approach. Eval

We seek to augment human manipulation by enabling humans to control two robotic arms in addition to their natural arms using their feet. Thereby, the hands are free to perform tasks of high dexterity, while the feet-controlled arms perform tasks requiring ...

In this paper, we propose a novel adaptive feedforward super-twisting sliding mode control algorithm to resolve the tracking control problem of parallel manipulators. The proposed control scheme includes three main terms, (i) the standard super-twisting al ...

Currently available foot interfaces to command an external assistive robotic arm for laparoscopic surgery typically consist of a couple of push buttons placed on a planar platform. In this paper, we develop and compare two foot interfaces implementing isot ...

This paper describes the design of an optical metrology system for fiber positioners. The system can be used for accurate calibration and verification of fiber positioners with SCARA-like RR planar kinematics. It is capable of measuring accurately the abso ...

Gait impairments is a common condition in post-stroke subjects. We recently presented a wearable ankle exoskeleton called G-Exos, which showed that the device assisted in the ankle's dorsiflexion and inversion/reversion movements. The aim of the current pi ...

The recent burgeoning interest in massive multiobject spectroscopy has pushed the development of massive optical fiber positioning systems. These systems rely on precise fiber placement to detect the light spectra of many stars and galaxies. One successful ...

Powered orthoses are leading to an imminent change in the field of assistance. The major challenges faced by the technology concern the management of the interaction between the user and the wearable device and the coordination between the user intention a ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

Robotic assistive devices have been developed and are now being introduced in clinical environments. Such robots can advantageously provide long raining, with quantifiable mobilization (force and position). But in the event of a complete lesion the patient’s muscles remain completely passive. To overcome that issue electrical muscle stimulation can be employed. The complex nature of the muscles associated to the dynamics of walking, require subtle stimulation schemes which rely on position and force informa

Generally the classical control architecture used to carry out a robot position control is based on a classical industrial motion planner that needs encoders cabling and analog cabling to insure the regulation loop. This work proposes a Profibus PC based control architecture that has a double-originality. The first originality concerns the hardware architecture and the second concerns the software flexibility that allows easiness in implementation, either modification, for controlling parallel robots. The h

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 ...

Mohamed Bouri

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HiBSO Hip Exoskeleton: Toward a Wearable and Autonomous Design

Safety assessment and feasibility of the TWIICE powered exoskeleton for assisted ambulation in individuals with spinal cord injury

Collision avoidance in next-generation fiber positioner robotic systems for large survey spectrographs

Evaluation of an active optical system for lower limb motion tracking

Four-Arm Manipulation via Feet Interfaces

Adaptive Feedforward Super-Twisting Sliding Mode Control of Parallel Kinematic Manipulators With Real-Time Experiments

Development and Comparison of Foot Interfaces for Controlling a Robotic Arm in Surgery

Design and performances of an optical metrology system to test position and tilt accuracy of fiber positioners

Immediate effect of ankle exoskeleton on spatiotemporal parameters and center of pressure trajectory after stroke

Optical test procedure for characterization and calibration of robotic fiber positioners for multiobject spectrographs

Influence of an Assistive Hip Orthosis on Gait

Brain-actuated gait trainer with visual and proprioceptive feedback

Nonlinear PD control of a Parallel Delta robot: Expermentals Results

Mechanisms for actuated assistive hip orthoses

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

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

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

A novel verticalized reeducation device for spinal cord injuries, the WalkTrainer: from design to the clinical trials

Profibus PC based motion control with application to a new 5 axes parallel kinematics

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