Hannes Bleuler
Fields of expertise
Biomedical Robotics
Haptic Interface
Surgery Robotics and Instrumentation
Mechatronics
Mission
The Laboratoire de Systèmes Robotiques (LSRO) is a mulitidisiplinary research unit working mostly in the fields of micro-robotics, biomedical robotics, haptics, MRI compatible instrumentation and nanotechnologies. Within the large field of "microrobotics", we are interested in various small mobile robots (Group of Francesco Mondada, robots for education, for inspection in turbines or in the human body, for climbing walls etc), in high precision motion control and in contact-free and vacuum compatible devices. Project examples include - Haptic mini-invasive surgery simulators (Laparoscopy, Hysteroscopy, Radiology, Colonoscopy) - fMRI compatible haptic devices - Diamagnetic and contact-free devices for sensors or vacuum compatible actuation - Electrostatic Motor for Cesium Atomic Clock (together with Observatoire de Neuchâtel, Professor Thomann, and METAS-office, Berne) - Optical Delay Line for the European Southern Observatory (a project together with the Observatoire de Genève, Prof. Mayor and Didier Queloz, the discoverers of exoplanets) Spark Assisted Chemical Engraving, a method for 3-D structuring of glass, used e.g. for rapid prototyping of microfluidic elements (together with Professor Christos Comninellis, EPFL)Biography
Swiss, Born 19.2.1954 1973-78 ETH Zurich, M.S. in Electrical Engineering 1979-84 Teaching Assistant, Doctorate Student at ETH (Inst. of Mechanics) 1984 Ph.D. thesis in Mechatronics (magnetic bearings, Prof. G. Schweitzer) 1985-87 Research Engineer at Hitachi Ltd, Japan, Mechanical Engineering Research Laboratory; 1987 Invited researcher at the Tokyo Institute of Technology (Precision Mechatronics, Prof. K. Ono) 1988-91 Lecturer and Senior Assistant at ETH ; co-foundation of MECOS-Traxler AG 1991-95 Toshiba Chair of "Intelligent Mechatronics" and then regular Associate Professor at The University of Tokyo (Institute of Industrial Science) 1995-present Full Professor at EPFL Lausanne on microrobotics, biomedical robotics; 2000 Co-founder of xitact SA, Morges (robotic surgery instrumentation & simulators) 2002-2006 President Conference of Professors and Lecturers of EPFL, member of Assemblée de l'Ecole 2006 Chairman of ISMB10 (10th International Symposium on Magnetic Bearings, Martigny, Switzerland) 2006 Nomination as member of the Swiss Academy of Technical Sciences (SATW)Lab Publication Samples 2008
Tate, A.J. and Shokur, S. and Bleuler,H. and Nicolelis,M.A.L. Predicting locomotor activity via neural ensemble recordings in the primary motor cortex in rats. Neuroscience Meeting Planner. Program No. 517.21.2007, San Diego, CA: Society for Neuroscience, 2007,Online Shokur, S and Tate, A J and Bleuler,H and Nicolelis, M A. Gait pattern prediction via bilateral neural ensemble recordings in motor cortex in rats. FENS Abstr., vol.4, 191.3, 2008 , Forum of European Neuroscience. Geneva D. Chapuis, X. Michel, R. Gasssert, E. Burdet, and H. Bleuler. A Haptic Knob with a Hybrid Ultrasonic Motor and Powder Clutch Actuator. In Worldhaptics 2007, 2007. D. Hellier, E. Samur, J. Passenger, U. Spaelter, H. Frimmel, M. Appleyard, H. Bleuler, and S. Ourselin. A modular simulation framework for colonoscopy using a new haptic device. In the 16th Medicine Meets Virtual Reality Conference (MMVR), Stud. health. Technol Inform., Amsterdam, 2008, IOS Press. P. Maillard, L. Flaction, E. Samur, D. Hellier, J. Passenger, and H. Bleuler. Instrumentation of a Clinical Colonoscope for Surgical Simulation. In 30th Annual International IEEE EMBS Conference, pages 70-73, 2008. E. Samur, U. Spaelter, L. Flaction, P. Maillard, R. Wuthrich, and H. Bleuler. Control of a Haptic Interface and a Micromachining Setup with an Open Source Real-Time System. In The 3rd ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, 2007. R. Gassert, D. Chapuis, H. Bleuler, and E. Burdet. Sensors for applications in magnetic resonance environments. IEEE/ASME Transactions on Mechatronics, 13(3):335344, 2008. Book Chapters R. Gassert, D. Chapuis, N. Roach, A. Wing, and H. Bleuler. 2-DOF fMRI-Compatible Haptic Interface for Bimanual Motor Tasks with Grip/Load Force Measurement. In: The Sense of Touch and Its Rendering, STAR 45, A. Bicchi et al.(Eds.), pp. 109129, 2008. Wang Fei et al. Development of a Microsurgery Training System, 28th EMBC (Engineering in Medicine & Biology), IEEE, Vancouver 2008 Duratti, Wang et al. A Real-Time Simulator for Interventional Radiology, 15th ACM Symposium on Virtual Reality Software & Technology, 2008Publications
Infoscience publications
Infoscience
Neural signatures of visuo-motor integration during human-robot interactions
Frontiers In Neurorobotics. 2023. DOI : 10.3389/fnbot.2022.1034615.Haptics based multi-level collaborative steering control for automated driving
Communications Engineering. 2023. 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.Wearable Haptics for Somatosensory Perception and Self-consciousness
Lausanne, EPFL, 2021. DOI : 10.5075/epfl-thesis-8386.Principles and Test Result of Novel Full Passive Magnetic Levitation Motor with Diamagnetic Disk
2021. 13th IEEE Energy Conversion Congress and Exposition (IEEE ECCE), ELECTR NETWORK, Oct 10-14, 2021. p. 3943 - 3948. DOI : 10.1109/ECCE47101.2021.9595636.Thought consciousness and source monitoring depend on robotically-controlled sensorimotor conflicts and illusory states
iScience. 2020. DOI : 10.1016/j.isci.2020.101955.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. Fall Symposium Series of the Association for Advancement of Artificial Intelligence, Arlington, Virginia, USA, November 7-9, 2019. p. AI - HRI/2019/12.Passive diamagnetic contactless suspension rotor with electrostatic glass motor
Micro & Nano Letters. 2019. DOI : 10.1049/mnl.2019.0144.Lean synthesis and application to lower-limb exoskeletons
Lausanne, EPFL, 2019. DOI : 10.5075/epfl-thesis-9823.Balance Control Strategies during Standing in a Locked-Ankle Passive Exoskeleton
2019. 16th IEEE International Conference on Rehabilitation Robotics (ICORR), Toronto, CANADA, Jun 24-28, 2019. p. 593 - 598. DOI : 10.1109/ICORR.2019.8779500.Torso-mounted Vibrotactile Interface to Experimentally Induce Illusory Own-body Perceptions
2019. 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.Error Augmentation Improves Visuomotor Adaptation during a Full-Body Balance Task
2019. 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.Wearable exoskeletons to support ambulation in people with neuromuscular diseases, design rules and control
Lausanne, EPFL, 2019. DOI : 10.5075/epfl-thesis-9104.Exoskeletons as Mechatronic Design Example
2019. 6th International Workshop on Medical and Service Robots (MESROB), Cassino, ITALY, 2018. p. 109 - 117. DOI : 10.1007/978-3-030-00329-6_13.High density fiber postitioner system for massive spectroscopic surveys
Monthly Notices Of The Royal Astronomical Society. 2018. 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. DOI : 10.1007/978-3-030-01845-0_74.HiBSO Hip Exoskeleton: Toward a Wearable and Autonomous Design
2018. 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.Development and Comparison of Foot Interfaces for Controlling a Robotic Arm in Surgery
2018. IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, MALAYSIA, Dec 12-15, 2018. p. 414 - 420. DOI : 10.1109/ROBIO.2018.8665333.Robotic Fiber Positioning Systems for Massive Spectroscopic Surveys: Mechanical Design Guidelines and Technological Opportunities
Lausanne, EPFL, 2018. DOI : 10.5075/epfl-thesis-8896.Congruent Visuo-Tactile Feedback Facilitates the Extension of Peripersonal Space
2018. 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.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.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.Realization of a Diamagnetically Levitating Rotor Driven by Electrostatic Field
Ieee-Asme Transactions On Mechatronics. 2017. DOI : 10.1109/Tmech.2017.2718102.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.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.Assimilation of virtual legs and perception of floor texture by complete paraplegic patients receiving artificial tactile feedback
Scientific Reports. 2016. DOI : 10.1038/srep32293.Long-Term Training with a Brain-Machine Interface-Based Gait Protocol Induces Partial Neurological Recovery in Paraplegic Patients
Scientific Reports. 2016. DOI : 10.1038/srep30383.In a demanding task, three-handed manipulation is preferred to two-handed manipulation
Scientific Reports. 2016. DOI : 10.1038/srep21758.Development of Walk Assistive Orthoses for Elderly
Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-6947.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.Stabilization of electrodynamic bearings with active magnetic dampers
Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-7334.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. DOI : 10.1117/12.2233589.High resolution eddy current inspection and eddy current testing for additive manufacturing
Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-6746.Wearable multimodal tactile interfaces for augmenting haptic perception
Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-6872.Motor and cognitive brain circuits of brain-machine interactions
Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-6870.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.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.Control of a Supernumerary Robotic Hand by Foot: An Experimental Study in Virtual Reality
PLOS ONE. 2015. DOI : 10.1371/journal.pone.0134501.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.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 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.The LegoPress: A Rehabilitation, Performance Assessment and Training Device
2014. Eurohaptics, Versailles, Yvelines, France, June 24-26, 2014.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.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 robotic platform for lower limb optical motion tracking in open space
MEDICAL AND SERVICE ROBOTICS MESROB 2014, Lausanne, Vaud, Switzerland, July 10-12, 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.A Ball-Screw Driven Motorized Hip Orthosis
Transaction on Control and Mechanical Systems. 2014.Cognitive-haptic interfaces : robotics, sensorimotor processing, and bodily self-consciousness
Lausanne, EPFL, 2014. DOI : 10.5075/epfl-thesis-6252.Mechanisms for actuated assistive hip orthoses
Robotics And Autonomous Systems. 2014. DOI : 10.1016/j.robot.2014.10.002.Collision avoidance in next-generation fiber positioner robotic systems for large survey spectrographs
Astronomy & Astrophysics. 2014. DOI : 10.1051/0004-6361/201323202.Design of Dexterous Mechanical Systems for Intuitive Telemanipulation in Minimally Invasive Surgery
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5689.Cognitive Neuroscience Based Design Guidelines for Surgical Robotics
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5669.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.Development of an Assistive Motorized Hip Orthosis
2013. ICORR, Seattle, Washington, USA, June 24-26, 2013. DOI : 10.1109/ICORR.2013.6650495.A Double-differential Actuation for an Assistive Hip Orthosis
2013. Neurotechnix, Vilamoura, Algrave, Portugal, September 18-20, 2013.Virtual reality based Brain-Machine-Interface for Sensori-Motor and Social experiments with Primates
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5671.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.Physical interactions in swarm robotics: the hand-bot case study
2012. 10th International Symposium on Distributed Autonomous Robotic Systems (DARS 2010), Lausanne, Switzerland, November 1-3,2010. p. 585 - 595. DOI : 10.1007/978-3-642-32723-0_42.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.Beyond the homunculus: Visual responses of primary somatosensory cortex (S1) neurons to virtual touch of a virtual
Society for Neuroscience 42nd Annual Meeting, New Orleans, LA., Octobre, 12-17, 2012.Increasing Haptic Fidelity and Ergonomics in Teleoperated Surgery
Lausanne, EPFL, 2012. DOI : 10.5075/epfl-thesis-5412.Mechanical positioning system for surgical instruments
US2013190774 ; WO2012020386 . 2012.Ergonomic handle for haptic devices
WO2012127404 ; WO2012127404 . 2012.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.Mechanical manipulator for surgical instruments
US2021369360 ; US11076922 ; US2019133698 ; US10092359 ; EP2627278 ; US2013304084 ; EP2627278 ; WO2012049623 . 2012.Screening of the factors influencing frictional interactions between a cylindrical tip and the cardiac wall using factorial analysis
Tribology International. 2012. DOI : 10.1016/j.triboint.2011.11.005.Cy-mag3D : conception, réalisation et évaluation d'un robot mobile d'inspection magnétique muni d'une caméra et pouvant évoluer dans un environnement industriel ferromagnétique complexe.
2011Dionis: A novel remote-center-of-motion parallel manipulator for Minimally Invasive Surgery
Applied Bionics And Biomechanics. 2011. DOI : 10.3233/Abb-2011-0020.Survey on Surgical Instrument Handle Design: Ergonomics and Acceptance
Surgical Innovation. 2011. DOI : 10.1177/1553350611413611.Tremo: an inspection climbing inchworm based on magnetic switchable device
2011. Climbing and Walking Robots (CLAWAR), Paris, September 6 – 8, 2011. p. 421 - 428. DOI : 10.1142/9789814374286_0049.Cy-mag3D: a simple and miniature climbing robot with advance mobility in ferromagnetic environment
Industrial Robot: An International Journal. 2011. DOI : 10.1108/01439911111122716.Experimental Evaluation of a Haptic Interface for Endoscopic Simulation
2011. 2011 IEEE World Haptics Conference (WHC), Istanbul, Turkey, June 21-24, 2011. p. 545 - 549. DOI : 10.1109/WHC.2011.5945544.A Polyvinylidene fluoride (PVDF) based bimorph actuator for high speed laser beam manipulation
2011. Conference on Smart Sensors, Actuators, and MEMS V, Prague, CZECH REPUBLIC, Apr 18-20, 2011. DOI : 10.1117/12.888983.Design and Evaluation of a Novel Haptic Interface for Endoscopic Simulation
IEEE Transactions on Haptics. 2011. DOI : 10.1109/TOH.2011.70.Cy-mag3De: magnetic climbing inspection robot
2011. Climbing and Walking Robots (CLAWAR), Paris, September 6 – 8, 2011. p. 407 - 414. DOI : 10.1142/9789814374286_0047.Climbing robot with thermal glue
2011. Climbing and Walking Robots (CLAWAR), Paris, September 6 – 8, 2011. p. 415 - 421. DOI : 10.1142/9789814374286_0048.Active tactile exploration using a brain-machine-brain interface
Nature. 2011. DOI : 10.1038/nature10489.Social interaction probed by reaching to face images: Rhesus monkeys consider a textured monkey avatar as a conspecific.
socity for Neuroscience, Washington DC, USA, November 12-16 2011.Tubulo II: magnetic climbing inchworm for inspection of boiler tubes
2011. Climbing and Walking Robots (CLAWAR), Paris, September 6 – 8, 2011. p. 949 - 955. DOI : 10.1142/9789814374286_0111.Systematic Evaluation Methodology and Performance Metrics for Haptic Interfaces
Lausanne, EPFL, 2010. DOI : 10.5075/epfl-thesis-4648.Affordable SLAM through the Co-Design of Hardware and Methodology
2010. 2010 IEEE International Conference on Robotics and Automation, Anchorage, Alaska, May 3-8, 2010. p. 5395 - 5401. DOI : 10.1109/ROBOT.2010.5509196.Modeling and Design of a Gripper for a Robotic Surgical System Integrating Force Sensing Capabilities in 4 DOF
2010. International Conference on Control, Automation and Systems 2010, KINTEX, Gyeonggi-do, Korea, Oct. 27-30, 2010. p. 361 - 365. DOI : 10.1109/ICCAS.2010.5670172.A robotic and virtual reality platform to study visuo-tactile and motor integration during hand-object interactions
2010. Body Representation in Physical and Virtual Reality with Application to Rehabilitation, Monte Verità, 26 Sep-1 Oct.Cy-mag3D: a simple and miniature climbing robot with advance mobility in ferromagnetic environment
2010. Climbing And Walking Robots: Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Nagoya Institute fo Technology, Japan, 31 August, 2 September. p. 383 - 391. DOI : 10.1142/9789814329927_0048.Design and Psychophysical Evaluation of a Tactile Pulse Display for Teleoperated Artery Palpation
2010. The 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, October 18-22, 2010. p. 5060 - 5066. DOI : 10.1109/IROS.2010.5653372.Design of Magnetic Switchable Device (MSD) and applications in climbing robot
2010. 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Nagoya Institute fo Technology, Japan, 31 August - 3 September 2010. p. 375 - 382. DOI : 10.1142/9789814329927_0047.Towards Mixed Societies of Chickens and Robots
2010. The IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October 18-22, 2010. p. 4722 - 4728. DOI : 10.1109/IROS.2010.5649542.Integration of a virtual reality based arm in primary somatosensory cortex
Neuroscience 2010, SfN's 40th annual meeting, San Diego, California, USA, 13-17 November, 2010.Augmented White Cane with Multimodal Haptic Feedback
2010. IEEE BioRob 2010, Tokyo, Japan, September 26-29, 2010. p. 149 - 155. DOI : 10.1109/BIOROB.2010.5628066.Magnetic wheels optimization and application to the MagneBike climbing robot
2010. 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Nagoya Institute fo Technology, Japan, 31 August - 3 September 2010. p. 801 - 808. DOI : 10.1142/9789814329927_0099.The MarXbot, a Miniature Mobile Robot Opening new Perspectives for the Collective-robotic Research
2010. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October 18-22, 2010. p. 4187 - 4193. DOI : 10.1109/IROS.2010.5649153.Tubulo - a train-like miniature inspection climbing robot for ferromagnetic tubes
2010. 1st International Conference on Applied Robotics for the Power Industry, Montreal, Canada, October 5-7, 2010. p. 1 - 5. DOI : 10.1109/CARPI.2010.5624462.Caméra pan-tilt miniature
2010Influence of force and torque feedback on operator performance in a VR-based suturing task
Applied Bionics and Biomechanics. 2010. DOI : 10.1080/11762322.2010.503110.Haptic/VR Assessment Tool for Fine Motor Control
2010. EuroHaptics 2010, Amsterdam, The Netherlands, July 8-10, 2010. p. 186 - 193. DOI : 10.1007/978-3-642-14075-4_27.ARAKNES haptic interface: user-centered design approach
2010. pHealth 2010, Berlin, May 26-28, 2010.Tendon-Based Transmission for Surgical Robotics: Systematic Experimental Friction Modeling.
2010. International Conference on Applied Bionics and Biomechanics (ICABB-2010), Venice, Italy, October 14-16,2010.Ein Greifer für Minimal-invasive Robotisierte Chirurgie mit integriertem Kraftsensor
2010. Automatisierungstechnische Verfahren für die Medizin (Automed 2010), Zurich, Switzerland, October 29-30,2010.Virtual Environment to Evaluate Multimodal Feedback Strategies for Augmented Navigation of the Visually Impaired
2010. 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'10), Buenos Aires, Argentina, September 1- 4, 2010.. p. 975 - 978. DOI : 10.1109/IEMBS.2010.5627611.Muller-Lyer Illusion Effect on a Reaching Movement in Simultaneous Presentation of Visual and Haptic/Kinesthetic Cues
2009. IEEE RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, Oct 10-15, 2009. p. 1253 - 1258. DOI : 10.1109/IROS.2009.5354619.Application of ultrasonic motors to MR-compatible haptic interfaces
Lausanne, EPFL, 2009. DOI : 10.5075/epfl-thesis-4317.VR simulation of interventional radiology and microsurgery
Lausanne, EPFL, 2009. DOI : 10.5075/epfl-thesis-4319.Spokeheel: Autonomous robot with high mobility and magnetic adhesion.
2009New slip synthesis and theoretical approach of CVT slip control
Lausanne, EPFL, 2009. DOI : 10.5075/epfl-thesis-4337.Versatile train-like tube crawler
2009Development of a 2-DOF Electrostatic Haptic Joystick for MRI/fMRI Applications
2009. 2009 IEEE International Conference on Robotics and Automation (ICRA'09), Kobe, May 12-17. p. 1479 - 1484. DOI : 10.1109/ROBOT.2009.5152850.Acceleration and inclination sensors based on magnetic levitation : application in the particular case of structural health monitoring in civil engineering
Lausanne, EPFL, 2008. DOI : 10.5075/epfl-thesis-4044.Fabrication of metallic nanoparticles by electrochemical discharges
Electrochemistry Communications. 2008. DOI : 10.1016/j.elecom.2008.01.017.Instrumentation of a Clinical Colonoscope for Surgical Simulation
2008. 30th Annual International IEEE EMBS Conference, Vancouver, British Columbia, Canada, August 20-24, 2008. p. 70 - 73. DOI : 10.1109/IEMBS.2008.4649093.A Real-Time Simulator for Interventional Radiology
2008. 15th ACM Symposium on Virtual Reality Software and Technology, Bordeaux, October, 27-29, 2008. p. 105 - 108. DOI : 10.1145/1450579.1450602.A Haptic Interface with Motor/Brake System for Colonoscopy Simulation
2008. Haptics Symposium, Reno, NV, USA, March 13-14, 2008. p. 477 - 478.Climbing robot with glue feet
2008Gait pattern prediction via bilateral neural ensemble recordings in motor cortex in rats.
2008. In Forum of European Neuroscience., Geneva, July 12-16, 2008.A hybrid ultrasonic motor and electrorheological fluid clutch actuator for force-feedback in MRI/fMRI
2008. Engineering in Medicine and Biology Society, 2008. EMBS 2008. 30th Annual International Conference of the IEEE, Vancouver, August 20-25, 2008. p. 3438 - 3442. DOI : 10.1109/IEMBS.2008.4649945.Climbing robot with magnetic caterpillar
2008Modélisation mécanique de fils pour la simulation chirurgicale
Lausanne, EPFL, 2008. DOI : 10.5075/epfl-thesis-3973.Magnetic whegs and fingers
2008Terrain-based Navigation for Underwater Vehicles Using Side Scan Sonar Images
2008. OCEANS 2008 Conference, Quebec, CANADA, Sep 15-18, 2008. p. 51 - 53. DOI : 10.1109/OCEANS.2008.5151809.Sensors for Applications in Magnetic Resonance Environments
IEEE/ASME Transactions on Mechatronics. 2008. DOI : 10.1109/TMECH.2008.924113.Development of a Microsurgery Training System
2008. 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE-EMBS), Vancouver, British Columbia, Canada, August 20-24, 2008. p. 1935 - 1938. DOI : 10.1109/IEMBS.2008.4649566.Robot grimpant avec pieds adhésifs
2008Two degrees of freedom miniaturized gyroscope based on active magnetic bearings
Lausanne, EPFL, 2008. DOI : 10.5075/epfl-thesis-4154.A modular simulation framework for colonoscopy using a new haptic device
2008. The 16th Medicine Meets Virtual Reality Conference (MMVR), Long Beach, California, Jan 29 - Feb 1, 2008. p. 165 - 170.Predicting locomotor activity via neural ensemble recordings in the primary motor cortex in rats.
2008. Society for Neuroscience.Slim magnetic crawling robot
20082-DOF fMRI-Compatible Haptic Interface for Bimanual Motor Tasks with Grip/Load Force Measurement
The Sense of Touch and its Rendering; Berlin: Springer, 2008. p. 109 - 129.Miniaturized mobile robot for inspection of ferromagnetic structures
2007Integration of Electrostatic Glass Motor into the UHV Chamber of a Caesium Atomic Clock
2007. 17th Intern. Vacuum Congress IVC-17, Stockholm, Sweden, July 2-6, 2007.A Computer-Based Real-Time Simulation of Interventional Radiology
2007. 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE-EMBS), Lyon, France, 2007. p. 1742 - 1745. DOI : 10.1109/IEMBS.2007.4352647.Ligament balancing in TKA: Evaluation of a force-sensing device and the influence of patellar eversion and ligament release
Journal of Biomechanics. 2007. DOI : 10.1016/j.jbiomech.2006.08.004.A Haptic Knob with a Hybrid Ultrasonic Motor and Powder Clutch Actuator
2007. Worldhaptics 2007, Tsukuba, Japan, 22-24.04.2007.Synthesis of metal nanoparticles by electrolytical STM and electrochemical discharges
Lausanne, EPFL, 2007. DOI : 10.5075/epfl-thesis-3752.A Task Specific Kinematic Design Methodology With Application to a 4-DOF Haptic Interface
2007. The 12th World Congress in Mechanism and Machine Science IFTOMM '07, Besançon, 17.-21.6.2007.Generic and Systematic Evaluation of Haptic Interfaces Based on Testbeds
2007. 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07), San Diego, CA, Oct 29 - Nov 2, 2007. p. 2113 - 2119. DOI : 10.1109/IROS.2007.4399522.Control of a Haptic Interface and a Micromachining Setup with an Open Source Real-Time System
2007. The 3rd ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Las Vegas, Nevada, USA, September 4-7, 2007. p. 219 - 225. DOI : 10.1115/DETC2007-35203.A systematic characterization method for gravity-feed micro-hole drilling in glass with spark assisted chemical engraving (SACE)
Journal of Micromechanics and Microengineering. 2006. DOI : 10.1088/0960-1317/16/9/019.Actuation Methods for Applications in MR Environments
Concepts in Magnetic Resonance Part B: Magnetic Resonance Engineering. 2006. DOI : 10.1002/cmr.b.20070.Rigid body dynamics simulation for robot motion planning
Lausanne, EPFL, 2006. DOI : 10.5075/epfl-thesis-3663.Study of DSA deactivation
Passivation of metals and semiconductors, and properties of thin oxide layers; Amsterdam: Elsevier, 2006. p. 737 - 742.fMRI Compatible Haptic Interfaces to Investigate Human Motor Control
Experimental Robotics IX: The 9th International Symposium on Experimental Robotics; Berlin / Heidelberg: Springer, 2006. p. 25 - 34.MR-compatible robotics to investigate human motor control
Lausanne, EPFL, 2006. DOI : 10.5075/epfl-thesis-3552.Material removal rate in Spark Assisted Chemical Engraving (SACE) machining – Limiting factors
2006. International Conference of the European Society for Precision Engineering and Nanotechnology (EUSPEN), Baden bei Wien, Austria, 28th May - 1st June.A 2-DOF fMRI compatible haptic interface to investigate the neural control of arm movements
2006. IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, May 2006. p. 3825 - 3831. DOI : 10.1109/ROBOT.2006.1642287.Position Controlled Diamagnetic Linear Conveyor
2006. Tenth International Symposium on Magnetic Bearings (ISMB10), Martigny Switzerland, August 21-23, 2006. p. 75 - 76.Statique et dynamique
2006.Investigation of a Cable Transmission for the Actuation of MR Compatible Haptic Interfaces
2006. The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006., Pisa, Italy, February 20-22, 2006. p. 426 - 431. DOI : 10.1109/BIOROB.2006.1639125.Active Mechatronic Interface for Haptic Perception Studies with Functional Magnetic Resonance Imaging: Compatibility and Design Criteria
2006. IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, May 2006. p. 3832 - 3837. DOI : 10.1109/ROBOT.2006.1642288.A Versatile MRI/fMRI Compatible Spherical 2-Dof Haptic Interface
2006. IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Pisa, Italy, 20-22.2.2006. p. 727 - 732. DOI : 10.1109/BIOROB.2006.1639176.MRI/fMRI-Compatible Robotic System With Force Feedback for Interaction With Human Motion
IEEE/ASME Transactions on Mechatronics. 2006. DOI : 10.1109/TMECH.2006.871897.A 2-DOF Friction Drive for Haptic Surgery Simulation of Hysteroscopy
2006. IFAC Symposium on Robot Control SYROCO 2006, Bologna, Bologna, Italy, 6.-8.9.2006. p. 334 - 339. DOI : 10.3182/20060906-3-IT-2910.00057.Spark Assisted Chemical Engraving (SACE) machining – a versatile alternative micro-machining technology
2006. International Conference of the European Society for Precision Engineering and Nanotechnology (EUSPEN), Baden bei Wien, Austria, 28th May - 1st June.Massively parallel AFM with digital holographic readout
Lausanne, EPFL, 2006. DOI : 10.5075/epfl-thesis-3666.Dynamics of torque control continuously variable transmissions
Lausanne, EPFL, 2006. DOI : 10.5075/epfl-thesis-3646.Haptic interface design and control with application to surgery simulation
Lausanne, EPFL, 2006. DOI : 10.5075/epfl-thesis-3529.Hybrid Ultrasonic Motor and Electrorheological Clutch System for MR-Compatible Haptic Rendering
2006. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, 9-15 October 2006. p. 1553 - 1557. DOI : 10.1109/IROS.2006.282040.Preliminary Investigations on a Diamagnetically Levitated Linear Conveyor
IEEJ Transactions on Industry Applications. 2006. DOI : 10.1541/ieejias.126.1341.The current signal in Spark Assisted Chemical Engraving (SACE), what does it tell us ?
Journal of Micromechanics and Microengineering. 2006. DOI : 10.1088/0960-1317/16/4/014.Development of a force amplitude- and location-sensing device designed to improve the ligament balancing procedure in TKA
IEEE Transactions on Biomedical Engineering. 2005. DOI : 10.1109/TBME.2005.851504.Knot-tying with Visual and Force Feedback for VR Laparoscopic Training
2005. 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (IEEE-EMBS), Shanghai, China, 2005. p. 5778 - 5781. DOI : 10.1109/IEMBS.2005.1615801.Multi-Joint Arm Movements to Investigate Motor Control with fMRI
2005. 27th Annual International Conference of the Engineering in Medicine and Biology Society (IEEE-EMBS), Shanghai, 01-04 September. p. 4488 - 4491. DOI : 10.1109/IEMBS.2005.1615464.Electrochemical characterization of dimensionally stable anodes (DSA®)
2005. The 56th Annual Meeting of the International Society of Electrochemistry, Busan, Korea, September 26-30.Realite Virtuelle et Dispositif Haptique en Temps Reel pour la Simulation Chirurgicale
2005. Surgetica 2005, Chambery, France, 19-21.1.2005.Electrochemistry meets microtechnology
First Korea-Switzerland Science and Technology Forum, Lausanne, EPFL, March 10 and 11, 2005.Haptics for Surgery Training and Medical Robotics
2005. International Conference on Control, Automation and Systems, ICCAS 2005, Korea, Gyeyongi, Korea, 2.-5.6.2005.Study of DSA deactivation
2005. The 9th International Symposium on the Passivation of Metals and Semiconductors, and the Properties of Thin Oxide Layers, Paris, 27 June - 1 July 2005.Diphasic Electrolysis Process: Continuous and Stochastic Modeling
2005. ECS 207th Meeting, Quebec, Canada, May 15-20. DOI : 10.1149/MA2005-01/33/1314.Spark Assisted Chemical Engraving (SACE) machining – Haptic device for the operator
2005. International Conference of the European Society for Precision Engineerining and Nanotechnology (EUSPEN), Monpellier, France, May 8th - 11th.Evaluation of MR-Compatibility of Electrostatic Linear Motor
2005. p. 3658 - 3663. DOI : 10.1109/ROBOT.2005.1570677.Continuous and Discrete Modelling of the Electrolysis Process for the Industrial Scale Optimization
2005. 7th International Symposium on Molten Salts Chemistry and Technologies, Toulouse, France, 29th August-2nd September 2005.In-vitro evaluation of a force-sensing device for ligament balancing in TKA
2005. 51st Annual Meeting of the Meeting of the Orthopaedic Research Society, Washington (USA), 2/2005.Device for measuring tibio-femoral force amplitudes and force locations in total knee arthroplasty
DE112004002886 ; US8065927 ; US2009288502 ; US7587945 ; US2008306413 ; CH697473 ; US7412897 ; US2007180922 ; DE112004002886 ; WO2005122899 . 2005.Micro-usinage de verre avec décharges électrochimiques
2005. Journées d’Électrochimie, St. Malo, France, 5 - 8 juillet 2005.Bubble evolution on a vertical electrode under extreme current densities
Electrochimica Acta. 2005. DOI : 10.1016/j.electacta.2004.12.052.Physical principles and miniaturization of Spark Assisted Chemical Engraving (SACE)
Journal of Micromechanics and Microengineering. 2005. DOI : 10.1088/0960-1317/15/10/S03.Spark assisted chemical engraving (SACE) in microfactory
Journal of Micromechanics and Microengineering. 2005. DOI : 10.1088/0960-1317/15/10/S04.Gas bubble nucleation at high current densities on vertical electrodes with various roughness
The 56th Annual Meeting of the International Society of Electrochemistry, Busan (South Korea), September 26-30, 2005.Spark Assisted Chemical Engraving – A technology for rapid prototyping micro-fluidic devices
2005. The 9th Annual European Conference on Micro & Nanoscale Technologies for the Biosciences, Montreux, Switzerland, November 15-17, 2005.Electrochemistry under extreme current densities – Application to electrode effects
2004. 55th ISE meeting, Thessaloniki, Greece, 19-24 September 2004.A stochastic model for electrode effects
Electrochimica Acta. 2004. DOI : 10.1016/j.electacta.2003.12.060.A force-sensing device for ligament balancing in total knee arthroplasty
2004. 4th Annual Meeting of the International Society for Computer Aided Orthopaedic Surgery, Chicago (USA). p. 147 - 148.Physical principles and miniaturization of Spark Assisted Chemical Engraving (SACE)
2004. Microfactory, Shanghai, China. p. 338 - 343.A 4-dof Haptic Device for Hysteroscopy Simulation
2004. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, Japan, Sendai, Japan, 28.9.-2.10.2004. p. 3257 - 3263. DOI : 10.1109/IROS.2004.1389919.Physical Principle of Spark Assisted Chemical Micro-Etching of Glass
International workshop on micromechatronics and micro and nano fabrication, Karlsruhe (Germany), October 5th and 6th, 2004.Spark assisted chemical engraving : a stochastic modeling approach
Lausanne, EPFL, 2004. DOI : 10.5075/epfl-thesis-2776.Electrochemical engineering of bubble effect during electrolysis process: continuous and stochastic modelling
2004. 205 rd ECS meeting, San Antonio, USA.Continuous scale modeling of the bubble effect during electrolysis process
Workshop in Numerical Simulations For Aluminum Industry, Lausanne, Sept. 30th – Oct. 2nd, 2004.SACE in Microfactory
2004. Microfactory, Shanghai, China. p. 226 - 231.In-vitro validation of a device measuring the tibio-femoral contact forces and moments for efficient assistance during ligament balancing in total knee arthroplasty
2004. 17th Annual Symposium of the International Society for Technology in Arthroplasty, Rome, Italy, Rome (IT), 2004.Spark Assisted Chemical Engraving in the light of electrochemistry
Electrochimica Acta. 2004. DOI : 10.1016/j.electacta.2003.12.062.A model for electrode effects using percolation theory
Electrochimica Acta. 2004. DOI : 10.1016/j.electacta.2003.11.014.A 2-DOF Spherical Manipulator for Haptic Interaction
2004. EuroHaptics 2004, Munich, Germany, Munich, Germany, 5.-7.6.2004.Glass Microstructuring with Spark Assisted Chemical Engraving
2004. The Fourth Korea-Switzerland Joint Symposium, Les Diablerets, Switzerland, February 1-3 2004.Design of a simple MRI/fMRI compatible force/torque sensor
2004. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004. (IROS 2004), Sendai, Japan, 28 Sept.-2 Oct. 2004. p. 2593 - 2599. DOI : 10.1109/IROS.2004.1389799.Design of a haptic forceps for microsurgery training
2004. Eurohaptics, Muenchen, Germany, 2004.Position Feedback for Microrobots based on Scanning Probe Microscopy
2004. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), Sendai, Japan, 28 Sept.-2 Oct. 2004. p. 1734 - 1739. DOI : 10.1109/IROS.2004.1389646.3D Micro structuring of glass with an AFM
2004. The 4th EUSPEN International Conference, Glassgow, UK, may 30th-3rd June 2004.A phenomenological model for macroscopic deactivation of surface processes
Electrochemistry communications. 2004. DOI : 10.1016/j.elecom.2004.09.014.Spark Assisted Chemical Engraving : A Novel Technology for Glass Microstructuring
European Congress on Advanced Materials and processes (EUROMAT), Lausanne.Characterization of Electrostatic Glass Actuators
Journal of Applied Physics. 2003. DOI : 10.1063/1.1567820.Investigations of the spark-assisted chemical engraving
Electrochemistry Communications. 2003. DOI : 10.1016/S1388-2481(03)00018-3.3D Micropatterning of Glass with Spark Assisted Chemical Engraving
2003. European Congress on Advanced Materials and processes (EUROMAT), Lausanne.A Stochastic Model for Electrode Effects
2003. 54th Annual Meeting of the International Society of Electrochemistry, São Pedro, Brazil.Fiber optic accelerometers: analysis of utilization of diffraction gratings
2003. p. 137 - 146. DOI : 10.1117/12.506285.Stiffness and Damping Measurements of Micro-High-Speed Air Turbine
2000. International Symposium on Motion and Vibration Control (MOVIC’00), Sydney.Capteurs de forces
2000. Journées de microtechnique, Lausanne, 2000.Opto-Mechanical Requirements for High-Speed Depth Optical Scanner
2000. International Symposium on Motion and Vibration Control (MOVIC’00), Sydney.Préhenseurs
2000. Journées de microtechnique, Lausanne.Selected 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 |