Publications de Mohamed Bouri | EPFL Graph Search

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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) ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

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 ...

Mon travail a deux objectifs. Le premier consiste à réaliser un être humain virtuel pour visualiser la marche afin de faciliter l’analyse et la visualisation. Le deuxième objectif est le contrôle de l’articulation du genou en couple en utilisant le modèle du muscle développé par Patrick Métrailler. La différence de mesures réels et virtuelles est à minimiser pour que le modèle puisse être utilisé comme environnement de simulation avant de passer au test avec des êtres humains.

Balance loss is a significant challenge in lower-limb exoskeleton applications, as it can lead to potential falls, thereby impacting user safety and confidence. We introduce a control framework for omnidirectional recovery step planning by online optimizat ...

This paper explores the potential of surgeons to perform solo laparoscopic anastomosis by introducing an innovative approach that uses feet-driven supernumerary robotic manipulation. This system allows surgeons to effectively and intuitively perform coordinated four-handed manipulation over two robotic arms. In a quasi-real-world medical scenario, a behavioral investigation is carried out to assess the feasibility and usability of the system during laparoscopic anastomosis performed by professional surgeons

Equipped with a third hand under their direct control, surgeons may be able to perform certain surgical interventions alone; this would reduce the need for a human assistant and related coordination difficulties. However, does human performance improve wit ...

In the way of developing fast parallel robots, the following work proposes a development of a new delta robot. This robot is a 3 d.o.f. parallel robot based on a Delta-like kinematics [Clavel 88, 92]. It is actually an inverted Delta in which the parallel bars are inverted towards the basis. There are two principal advantages of this structure. The first is that there is less links between the actuators and the support basis. The second concerns the fact that end- effector naturally moves without changing t

This paper presents a novel reeducation device for paraplegics that combines hybrid orthoses and closed-loop electrical muscle stimulation. Based on the so called Cyberthosis concept, the WalkTrainer enables an active muscular participation of the subject ...

Robotic fiber positioner (RFP) arrays are becoming heavily adopted in wide-field massively multiplexed spectroscopic survey instruments. RFP arrays decrease nightly operational overheads through rapid reconfiguration between fields and exposures. In compar ...

This paper furnishes the theoretical basis to perform the calibration of one or more ultra-high-precision industrial robots operating in the same workspace. We propose a new calibration procedure that keeps in account the factors that lower the robot accuracy at nanometer scale. To validate this approach, we present the practical case of the calibration of a two industrial robots system. Finally, we propose nano- indentation as an alternative method to evaluate the final accuracy reached by the system after

Pelvic motion is of great importance when walking, and have thus to be taken into account while developing rehabilitation robotics. This paper describes the implementation of a pelvic motion amplitude prediction model on a pelvic orthosis and tests on vali ...

Mohamed Bouri

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

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

Iterative learning control of multivariable uncertain nonlinear systems with nonrepetitive trajectory

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

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

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

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

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

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

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

Assessing Balance During Gait with a Lower Limb Exoskeleton

Environnement de réalité virtuelle pour la rééducation de paraplégiques

ExoRecovery: Push Recovery with a Lower-Limb Exoskeleton Based on Stepping Strategy

Four-Handed Solo Laparoscopic Anastomosis with the Support of Supernumerary Robotic Arms

In a demanding task, three-handed manipulation is preferred to two-handed manipulation

Towards a new Delta robot: an inverted Delta

The WalkTrainer, a New Generation of Walking Reeducation Device Combining Orthoses and Muscle Stimulation

SDSS-V Algorithms: Fast, Collision-free Trajectory Planning for Heavily Overlapping Robotic Fiber Positioners

Ultra-high-precision Industrial Robots Calibration

Pelvic Motion Implementation on the WalkTrainer