Hannes Bleuler
Domaines de compétences
Robotique biomédicale
Interfaces haptiques
Robotique et instruments chirurgicaux
Mécatronique
Mission
Le Laboratoire de Systèmes Robotiques (LSRO) est une unité de recherche pluridisciplinaire en micro-robotique et robotique médicale. Les activités sont centrées autour du contrôle de position à très haute précision et de l'interface haptique en instrumentation médicale. Une de nos spécialités est l'instrumentation (haptique) compatible avec l'Imagerie à résonance magnétique ainsi que les systèmes de positionnement de très haute précision (sustentation diamagnétique sans contact ou sur articulations flexibles). Des applications se trouvent dans l'instrumentation astronomique ou dans la microstructuration 3-D de verre par étincelage électrochimique.Biographie
Originaire de Zollikon (ZH), Hannes Bleuler est né en 1954 au Maroc où il passa son enfance. Après la maturité latine a Zürich, il entre au Département d'électricité à l'ETHZ. Il obtient son diplôme en automatique, en 1978, et entre en fonction comme assistant à l'Institut de mécanique de la même école.Il y participe à l'établissement du groupe de mécatronique et obtient son doctorat dans le domaine des paliers magnétiques actifs, activité qui mène à la fondation d'une compagnie avec des collègues et à un premier séjour de deux ans chez Hitachi au Japon.
De 1991 à 1995, il est d'abord Toshiba Professor of Intelligent Mechatronics à l'institut des sciences industrielles de l'Université de Tokyo et ensuite professeur associé régulier au département de microtechnique à cette même université.
Il y travaille en microtechnique (instrumentation) et robotique. A l'EPFL, ses activités se concentrent sur la robotique biomédicale et l'interface homme-machine (interfaces haptiques) et l'entraînement et la simulation de chirurgie. Il est directeur de la section microtechnique 2008-2009. Il anime les relations et les échanges entre l'EPFL et le Japon sur tous les niveaux et donne un cours (2010) sur l'histoire des sciences au Japon dans le cadre du Collège des Humanités.
Publications
Publications Infoscience
Infoscience
Haptics based multi-level collaborative steering control for automated driving
Communications Engineering. 2023-01-23. DOI : 10.1038/s44172-022-00051-2.Haptics based collaborative steering control in automated driving environments
Lausanne, EPFL, 2023. DOI : 10.5075/epfl-thesis-10237.Cogno-Vest: A Torso-Worn, Force Display to Experimentally Induce Specific Hallucinations and Related Bodily Sensations
IEEE Transactions on Cognitive and Developmental Systems. 2022. DOI : 10.1109/TCDS.2021.3051395.Principles and Test Result of Novel Full Passive Magnetic Levitation Motor with Diamagnetic Disk
2021-01-01. 13th IEEE Energy Conversion Congress and Exposition (IEEE ECCE), ELECTR NETWORK, Oct 10-14, 2021. p. 3943-3948. DOI : 10.1109/ECCE47101.2021.9595636.Wearable Haptics for Somatosensory Perception and Self-consciousness
Lausanne, EPFL, 2021. DOI : 10.5075/epfl-thesis-8386.Thought consciousness and source monitoring depend on robotically-controlled sensorimotor conflicts and illusory states
iScience. 2020-12-16. DOI : 10.1016/j.isci.2020.101955.Wer schafft Wissen?
Villa Bleuler Gespräche, SIK ISEA. Schweizerisches Institut für Kunstwissenschaften.Postural Control and Consciousness and Their Applications to Lower-Limb Exoskeletons
Lausanne, EPFL, 2020. DOI : 10.5075/epfl-thesis-7708.Four-Arm Manipulation via Feet Interfaces
2019-09-11. Fall Symposium Series of the Association for Advancement of Artificial Intelligence, Arlington, Virginia, USA, November 7-9, 2019. p. AI-HRI/2019/12.Balance Control Strategies during Standing in a Locked-Ankle Passive Exoskeleton
2019-01-01. 16th IEEE International Conference on Rehabilitation Robotics (ICORR), Toronto, CANADA, Jun 24-28, 2019. p. 593-598. DOI : 10.1109/ICORR.2019.8779500.Error Augmentation Improves Visuomotor Adaptation during a Full-Body Balance Task
2019-01-01. 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), Berlin, GERMANY, Jul 23-27, 2019. p. 1529-1533. DOI : 10.1109/EMBC.2019.8857523.Torso-mounted Vibrotactile Interface to Experimentally Induce Illusory Own-body Perceptions
2019-01-01. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, PEOPLES R CHINA, Nov 04-08, 2019. p. 6204-6209. DOI : 10.1109/IROS40897.2019.8967629.Lean synthesis and application to lower-limb exoskeletons
Lausanne, EPFL, 2019. DOI : 10.5075/epfl-thesis-9823.Passive diamagnetic contactless suspension rotor with electrostatic glass motor
Micro & Nano Letters. 2019-09-04. DOI : 10.1049/mnl.2019.0144.Cylindrical Dielectric Elastomer Actuator for Cardiac Assist Device
Lausanne, EPFL, 2019. DOI : 10.5075/epfl-thesis-9397.Exoskeletons as Mechatronic Design Example
2019-01-01. 6th International Workshop on Medical and Service Robots (MESROB), Cassino, ITALY, 2018. p. 109-117. DOI : 10.1007/978-3-030-00329-6_13.Calibration Aspects of INS Navigation
Lausanne, EPFL, 2019. DOI : 10.5075/epfl-thesis-9357.Wearable exoskeletons to support ambulation in people with neuromuscular diseases, design rules and control
Lausanne, EPFL, 2019. DOI : 10.5075/epfl-thesis-9104.High density fiber postitioner system for massive spectroscopic surveys
Monthly Notices Of The Royal Astronomical Society. 2018-12-01. DOI : 10.1093/mnras/sty2442.Preliminary Study: Effects of Visual Distortion on Standing Balance Motion Amplitude and Visual Dependency on an Unstable Surface
Converging Clinical and Engineering Research on Neurorehabilitation III. ICNR 2018. Biosystems & Biorobotics. 2018-10-16. DOI : 10.1007/978-3-030-01845-0_74.Development and Comparison of Foot Interfaces for Controlling a Robotic Arm in Surgery
2018-01-01. IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, MALAYSIA, Dec 12-15, 2018. p. 414-420. DOI : 10.1109/ROBIO.2018.8665333.Congruent Visuo-Tactile Feedback Facilitates the Extension of Peripersonal Space
2018-01-01. 11th International Conference on Haptics - Science, Technology, and Applications (EuroHaptics), Pisa, ITALY, Jun 13-16, 2018. p. 673-684. DOI : 10.1007/978-3-319-93399-3_57.HiBSO Hip Exoskeleton: Toward a Wearable and Autonomous Design
2018-01-01. 5th International Workshop on Medical and Service Robots (MESROB), Graz, AUSTRIA, Jul 04-06, 2016. p. 185-195. DOI : 10.1007/978-3-319-59972-4_14.Neuroprosthetics to support impaired hand functions: A multidisciplinary approach combining brain-machine interfaces and wearable exoskeletons
Lausanne, EPFL, 2018. DOI : 10.5075/epfl-thesis-9013.Dionis Surgical Positioner Design for High Stiffness of a Parallel Structure
ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS. 2018. DOI : 10.1007/978-3-319-61276-8_103.Robotic Fiber Positioning Systems for Massive Spectroscopic Surveys: Mechanical Design Guidelines and Technological Opportunities
Lausanne, EPFL, 2018. DOI : 10.5075/epfl-thesis-8896.Compliant control of Uni/ Multi- robotic arms with dynamical systems
EPFL, 2018-05-14. DOI : 10.5075/epfl-thesis-8131.Realization of a Diamagnetically Levitating Rotor Driven by Electrostatic Field
Ieee-Asme Transactions On Mechatronics. 2017. DOI : 10.1109/Tmech.2017.2718102.Influence of an Assistive Hip Orthosis on Gait
2017. 25th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD), Belgrade, SERBIA, JUN 30-JUL 02, 2016. p. 531-540. DOI : 10.1007/978-3-319-49058-8_58.AUTONOMYO: Design Challenges of Lower Limb Assistive Device for Elderly People, Multiple Sclerosis and Neuromuscular Diseases
2017. 2nd International Symposium on Wearable Robotics (WeRob), Segovia, SPAIN, OCT 18-21, 2016. p. 439-443. DOI : 10.1007/978-3-319-46532-6_72.Multi-contact tactile exploration and interaction with unknown objects
Lausanne, EPFL, 2017. DOI : 10.5075/epfl-thesis-7686.EXiO-A Brain-Controlled Lower Limb Exoskeleton for Rhesus Macaques
Ieee Transactions On Neural Systems And Rehabilitation Engineering. 2017. DOI : 10.1109/Tnsre.2017.2659654.Supernumerary Robotic Arm for Three-Handed Surgical Application: Behavioral Study and Design of Human-Machine Interface
Lausanne, EPFL, 2017. DOI : 10.5075/epfl-thesis-7343.In a demanding task, three-handed manipulation is preferred to two-handed manipulation
Scientific Reports. 2016-02-01. DOI : 10.1038/srep21758.Hardware, software and control design considerations towards low-cost compliant quadruped robots
Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-7458.Series Elastic Actuation for Assistive Orthotic Devices: Case Study of Pneumatic Actuator
2016. 4th International Workshop on Medical and Service Robots (MESROB), IRCCyN, Nantes, FRANCE, JUL 08-10, 2015. p. 113-125. DOI : 10.1007/978-3-319-30674-2_9.A 24 mm diameter fibre positioner for spectroscopic surveys
2016. Conference on Advances in Optical and Mechanical Technologies for Telescopes and Instrumentation II, Edinburgh, ENGLAND, JUN 26-JUL 01, 2016. p. 99125K. DOI : 10.1117/12.2233589.Stabilization of electrodynamic bearings with active magnetic dampers
Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-7334.Long-Term Training with a Brain-Machine Interface-Based Gait Protocol Induces Partial Neurological Recovery in Paraplegic Patients
Scientific Reports. 2016-08-11. DOI : 10.1038/srep30383.Assimilation of virtual legs and perception of floor texture by complete paraplegic patients receiving artificial tactile feedback
Scientific Reports. 2016-09-01. DOI : 10.1038/srep32293.Étude des engrenages de microtechnique
Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-6890.Quantifying the role of motor imagery in brain-machine interfaces
Scientific Reports. 2016. DOI : 10.1038/srep24076.High resolution eddy current inspection and eddy current testing for additive manufacturing
Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-6746.Development of Walk Assistive Orthoses for Elderly
Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-6947.Grasping for the Task
Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-6702.Motor and cognitive brain circuits of brain-machine interactions
Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-6870.Wearable multimodal tactile interfaces for augmenting haptic perception
Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-6872.Encoded and Crossmodal Thermal Stimulation through a Fingertip-Sized Haptic Display
Frontiers in Robotics and AI. 2015. DOI : 10.3389/frobt.2015.00025.A flexible multimodal tactile display for delivering shape and material information
Sensors And Actuators A-Physical. 2015. DOI : 10.1016/j.Sna.2015.10.048.An 8-mm diameter fibre robot positioner for massive spectroscopy surveys
Monthly Notices Of The Royal Astronomical Society. 2015. DOI : 10.1093/mnras/stv541.A Novel Flexible PCB Conductive Structure for Electrodynamic Bearings and Measurement in its Induced Voltage
Journal Of Electrical Engineering & Technology. 2015. DOI : 10.5370/Jeet.2015.10.5.2001.Control of a Supernumerary Robotic Hand by Foot: An Experimental Study in Virtual Reality
PLOS ONE. 2015. DOI : 10.1371/journal.pone.0134501.Méthodes de production par ultrasons, de la théorie à l'application industrielle
Lausanne, EPFL, 2015. DOI : 10.5075/epfl-thesis-6665.A Methodology for Holistic Lifecycle Approach as Decision Support System for Closed-loop Lifecycle Management
Lausanne, EPFL, 2015. DOI : 10.5075/epfl-thesis-6714.Knowledge-based decision support for improving the adaptive product development process
Lausanne, EPFL, 2015. DOI : 10.5075/epfl-thesis-6484.Control Strategies for Active Lower Extremity Prosthetics and Orthotics: A Review
Journal of NeuroEngineering and Rehabilitation. 2015. DOI : 10.1186/1743-0003-12-1.Ranger, an Example of Integration of Robotics into the Home Ecosystem
2015. International Workshop and Summer School on Medical and Service Robotics, Lausanne, Switzerland, July 10 – 12 2014. p. 181-189. DOI : 10.1007/978-3-319-23832-6_15.Design and Control of a novel Thermo-tactile Multimodal Display
2014. IEEE Haptics Symposium (HAPTICS), Houston, TX, FEB 23-26, 2014. p. 75-81. DOI : 10.1109/HAPTICS.2014.6775436.The LegoPress: A Rehabilitation, Performance Assessment and Training Device Mechanical Design and Control
2014. 9th International Conference of the EuroHaptics on Neuroscience, Devices, Modeling, and Applications, Versailles, FRANCE, JUN 24-26, 2014. p. 198-205. DOI : 10.1007/978-3-662-44196-1_25.Neurological and Robot-Controlled Induction of an Apparition
Current Biology. 2014. DOI : 10.1016/j.cub.2014.09.049.Towards Ontology-based Context Modeling for Manufacturing Applications
Lausanne, EPFL, 2014. DOI : 10.5075/epfl-thesis-6401.Neurotechnology for Brain Repair
Lausanne, EPFL, 2014. DOI : 10.5075/epfl-thesis-6397.Ensuring Asset Optimization through Ontology-based Modelling of Technical Documentation
Lausanne, EPFL, 2014. DOI : 10.5075/epfl-thesis-6404.Learning Reach-to-Grasp Motions From Human Demonstrations
Lausanne, EPFL, 2014. DOI : 10.5075/epfl-thesis-6434.Mechanisms for actuated assistive hip orthoses
Robotics And Autonomous Systems. 2014. DOI : 10.1016/j.robot.2014.10.002.Design and integration of an instrumented knee prosthesis
Lausanne, EPFL, 2014. DOI : 10.5075/epfl-thesis-6379.Electromagnetic Modeling and Control Aspects of a Reaction Sphere for Satellite Attitude Control
Lausanne, EPFL, 2014. DOI : 10.5075/epfl-thesis-6311.Cognitive-haptic interfaces
Lausanne, EPFL, 2014. DOI : 10.5075/epfl-thesis-6252.A robotic platform for lower limb optical motion tracking in open space
MEDICAL AND SERVICE ROBOTICS MESROB 2014, Lausanne, Vaud, Switzerland, July 10-12, 2014.Analyse et classification pour le contrôle qualité par le traitement du signal
Lausanne, EPFL, 2014. DOI : 10.5075/epfl-thesis-6180.The LegoPress: A Rehabilitation, Performance Assessment and Training Device
2014. Eurohaptics, Versailles, Yvelines, France, June 24-26, 2014.Evaluation of an active optical system for lower limb motion tracking
International Symposium: 3-D Analysis of Human Movement, Lausanne, Vaud, Switzerland, July 14-17, 2014.A Ball-Screw Driven Motorized Hip Orthosis
Transaction on Control and Mechanical Systems. 2014.Characterization of Surface Cracks Through The Local Magnetic Field Induced by Eddy Currents
2014. 17th International Workshop on Electromagnetic Nondestructive Evaluation, 17th International Workshop on Electromagnetic Nondestructive Evaluation. p. 227-237. DOI : 10.3233/978-1-61499-354-4-227.The High-Resolution Magnetic Camera: A Novel Sensor for Eddy Current Testing
2014. 17th International Workshop on Electromagnetic Nondestructive Evaluation, Rio de Janeiro, BRAZIL, JUL 29-AUG 01, 2012. p. 15-23. DOI : 10.3233/978-1-61499-354-4-15.Collision avoidance in next-generation fiber positioner robotic systems for large survey spectrographs
Astronomy and Astrophysics journal. 2014. DOI : 10.1051/0004-6361/201323202.Rapid and reactive robot control framework for catching objects in flight
Lausanne, EPFL, 2014. DOI : 10.5075/epfl-thesis-6094.Robust Autonomous Flight in Unstructured Environments
Lausanne, EPFL, 2014. DOI : 10.5075/epfl-thesis-6072.New horizons for patient safety: LIGRA (LIfe Guard for Robotic surgery Assistance) An interactive platform centralizing information and control in robotic surgery Operating Rooms
2013. 1st IEEE International Conference on Healthcare Informatics (ICHI), Philadelphia, PA, SEP 09-11, 2013. p. 361-366. DOI : 10.1109/Ichi.2013.50.Visual and Force Feedback Time-Delays Change Telepresence: Quantitative Evidence from Crossmodal Congruecy Task
2013. IEEE World Haptics Conference (WHC). p. 577-582. DOI : 10.1109/WHC.2013.6548472.A Double-differential Actuation for an Assistive Hip Orthosis
2013. Neurotechnix, Vilamoura, Algrave, Portugal, September 18-20, 2013.Development of an Assistive Motorized Hip Orthosis
2013. ICORR, Seattle, Washington, USA, June 24-26, 2013. DOI : 10.1109/ICORR.2013.6650495.Expanding the primate body schema in sensorimotor cortex by virtual touches of an avatar
Proceedings Of The National Academy Of Sciences Of The United States Of America. 2013. DOI : 10.1073/pnas.1308459110.Covert visuospatial attention Brain-Computer Interface for control and rehabilitation
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5860.Visuo-tactile integration and body ownership during self-generated action
European Journal of Neuroscience. 2013. DOI : 10.1111/ejn.12128.Force feedback facilitates multisensory integration during robotic tool use
Experimental brain research. Experimentelle Hirnforschung. Experimentation cerebrale. 2013. DOI : 10.1007/s00221-013-3526-0.Deeply implanted medical device based on a novel ultrasonic telemetry technology
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5730.Intracorporeal anchoring and guiding system with permanent magnet force modulation
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5698.Role of Holographic Displays and Stereovision Displays in Patient Safety and Robotic Surgery
2013. 12th International Conference of Intelligent Autonomous Systems, Jeju, SOUTH KOREA, JUN 26-29, 2012. p. 143-154. DOI : 10.1007/978-3-642-33932-5_14.Cognitive Neuroscience Based Design Guidelines for Surgical Robotics
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5669.Design of Dexterous Mechanical Systems for Intuitive Telemanipulation in Minimally Invasive Surgery
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5689.Virtual reality based Brain-Machine-Interface for Sensori-Motor and Social experiments with Primates
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5671.Ironless Inductive Position Sensor for Harsh Magnetic Environments
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5596.Legged locomotion with spinal undulations
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5607.Mechanical positioning system for surgical instruments
US2013190774 ; WO2012020386 . 2012.Mechanical manipulator for surgical instruments
US2021369360 ; US11076922 ; US2019133698 ; US10092359 ; EP2627278 ; US2013304084 ; EP2627278 ; WO2012049623 . 2012.Ergonomic handle for haptic devices
WO2012127404 ; WO2012127404 . 2012.Study of polyvinylidene fluoride (PVDF) based bimorph actuators for laser scanning actuation at kHz frequency range
Sensors And Actuators A-Physical. 2012. DOI : 10.1016/j.sna.2012.05.019.Tactile Feedback Improves Performance in a Palpation Task: Results in a VR-Based Testbed
Presence-Teleoperators And Virtual Environments. 2012. DOI : 10.1162/PRES_a_00126.Extending the body to virtual tools using a robotic surgical interface: evidence from the crossmodal congruency task
PloS One. 2012. DOI : 10.1371/journal.pone.0049473.Sélection de publications
| Fascio, V., H. H. Langen, et al. Electrochemistry Communications 5(3): 203-207., 2003 |
Investigations of the spark assisted chemical engraving. |
| Miyahara, Y., M. Deschler, et al. Applied Surface Science 188(3-4): 450-455., 2002 |
Non-contact atomic force microscope with a PZT cantilever used for deflection sensing, direct oscillation and feedback actuation. |
| Moser, R. and H. Bleuler Ieee Transactions on Applied Superconductivity 12(1): 937-939., 2002 |
Precise positioning using electrostatic glass motor with diamagnetically suspended rotor. |
| R. Moser, L. Sache, A. Cassat, T. Higuchi, H. Bleuler: IEEE TRANSACTIONS Industry Applications, Vol 41, No 4, July/Aug. 2005, pp 972-977 |
Advances in Precise Positionning Using the Electrostatic Glass Motor |
| Denis Crottet, Thomas Maeder, Daniel Fritschy, Hannes Bleuler, Lutz-P. Nolte, and Ion P. Pappas IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, VOL. 52, NO. 9, SEPTEMBER 2005 pp 1609 |
Development of a Force Amplitude- and Location-Sensing Device Designed to Improve the Ligament Balancing Procedure in TKA (Total Knee Arthroplasty) |
| Alexandre Schammass, Raoul Herzog, Philipp B�hler, and Hannes Bleuler IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 13, NO. 4, JULY 2005, pp 509-516 |
New Results for Self-Sensing Active Magnetic Bearings Using Modulation Approach |
| Thomas Moix, Dejan Ilic, Hannes Bleuler, Jurjen Zoethout Medicine Meets Virtual Reality 14 proceedings ed. by Westwood, Haluck, Hoffman, Mogel, Philips, Robb, G. Vosburgh, Publ. by IOS Press � Amsterdam 2006 - 600 p.ISBN 1 58603 583 5, Long Beach, Jan. 2006 |
A Haptic Device for Guide Wire in Interventional Radiology Procedures |