Mohamed Bouri
41 21 693 73 46
EPFL
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STI
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STI-SMT
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SMT-ENS
41 21 693 73 46
EPFL
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STI
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STI-SGM
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SGM-ENS
EPFL STI IBI-STI BIOROB
MED 3 1018 (Bâtiment MED)
Station 9
CH-1015 Lausanne
41 21 693 73 46
Office: MED 3 1018
EPFL
>
STI
>
IBI-STI
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BIOROB
Web site: Web site: https://biorob.epfl.ch/
EPFL STI IBI-STI TNE
MED 3 1018 (Bâtiment MED)
Station 9
CH-1015 Lausanne
41 21 693 73 46
Office: MED 3 1018
EPFL
>
STI
>
IBI-STI
>
TNE
Web site: Web site: https://tne.epfl.ch
Biography
Dr. Mohamed Bouri is a group leader of Rehabilitation and Assistive Robotics in LSRO and lecturer of Robotics and Industrial Robotics. He graduated in Electrical Engineering in 1992 and obtained his PhD degree in 1997 in Industrial Automation at INSA LYON, France. Since 1997, he is at EPFL and is mainly active in the field of robot control, automation and robot design for medical and industrial applications. He is the head of Rehabilitation and Assistive Robotics group since 2005 and has strong references with the development of robotic devices for lower limb rehabilitation : The MotionMaker and WalkTrainer commercialzed by the company Swortec. His ongoing research currently focuses on the development of exoskeletons and the associated control strategies. His main current projects are TWIICE, a lower limb exoskeleton for people with paraplegia, AUTONOMYO, a walk assistance exoskeleton for people with muscle weakness, and the HiBSO, a hip orthosis for elderly.Main publications
• An Assistive Lower Limb Exoskeleton for People with Neurological Gait Disorders, A. Ortlieb, R. Baud, M. Bouri, H. Bleuler, Int. Conference Rehabilitation Robotics, London, 2017• TWIICE -- a Lightweight Lower-Limb Exoskeleton for Complete Paraplegics, T. Vouga, R. Baud, J. Fasola, M. Bouri, H. Bleuler, Int. Conference Rehabilitation Robotics, London, 2017
• Brain-actuated gait trainer with visual and proprioceptive feedback. Liu D, Chen W, Lee K, Chavarriaga R, Bouri M, Pei Z, Millan JDR, J Neural Eng, doi: 10.1088/1741-2552/aa7df9, 2017
• In a demanding task, three-handed manipulation is preferred to two-handed manipulation, E Abdi, E Burdet, M Bouri, S Himidan, H Bleuler, Scientific reports of Nature, Vol 6, doi: 10.1038/srep21758, 2016.
• EXiO – A Brain-Controlled Lower Limb Exoskeleton for Rhesus Macaques , T. Vouga, J. Olivier, M. Bouri, K. Z. Zhuang, M. A. Lebedev, M. A. L. Nicolelis, H. Bleuler, IEEE Transactions on Neural Systems and Rehabilitation Engineering, (under press), 2016.
• From gait measurements to design of assistive orthoses for people with neuromuscular diseases, A. Ortlieb · J. Olivier · M. Bouri · H. Bleuler · T. Kuntzer, ICORR, Singapore, 2015.
• Which Perspectives of Using Exoskeletons in Activities for Daily Living, M. Bouri, International Conference on social robots in therapy and education New Friends, Nederland, October 2015.
• Control Strategies for Active Lower Extremity Prosthetics and Orthotics: A Review. M. R. Tucker, J. Olivier, A. Pagel, H. Bleuler, M. Bouri, O. Lambercy, J. Millán, R. Riener, H. Vallery, and R. Gassert, Journal of NeuroEngineering and Rehabilitation, (Version online), January 2015.
• Mechanisms for Actuated Assistive Hip Orthoses, J. Olivier, A. Ortlieb, M. Bouri, H. Bleuler. Elsevier Journal of Robotics and Autonomous Systems, Online October, 2014.
• The WalkTrainer—A New Generation of Walking Reeducation Device Combining orthosis and Muscle Stimulation, Y. Stauffer, Y. Allemand, M. Bouri, J. Fournier, R. Clavel, P. Métrailler, R. Brodard, and F. Reynard, IEEE Transactions on neural systems and rehabilitation engineering, Vol. 17, No. 1, February 2009
Main Achievements (last 5 years)
Topic 1: Rehabilitation Robotics• (2013-2014) Hip Ball Screw Orthosis for elderly (HiBSO). This orthotic device assist people when walking by providing a complementary torque to the hip joint. Tests, characterizations and evaluations have been carried out.
• (2016) Autonomyo, a fully actuated exoskeleton for people with Myopathy. This project is carried out in collaboration with the university hospital of canton of Vaud. Autonomyo, with its 3 actuated joints at each leg (2 actuations at the hip and 1 actuation at the knee) assist walking and stabilization when walking for people with muscular weaknesses. Tests are ongoing. A related patent is pending (ref EP16192217.4). www.autonomyo.ch
• (2016) TWIICE, A fully actuated exoskeleton for people with Spinal Cord Injury. TWIICE, with its 2 actuated joints at each leg (1 actuation at the hip and 1 actuation at the knee) totally mobilize the legs when walking. This device is a worldwide lightest device enabling people with SCI to walk, stand and walk and climbing stairs. A related patent is pending (ref EP16188172.7). www.twiice.ch
Topic 2: Robotized Surveys for Astrophysics
• (2013-2016), Contribution to the project DESI (Dark Energy Spectroscopy Instrument) by 1) investigating on the backlash-free positioner 2) development of the position controllers (software and electronics) 3) developing the solution of the collision-free path generation. These 3 requirements and contributions have been successfully achieved. Our group is officially part of the project DESI led by the LBL lab at Berkeley and mainly financed by the department of energy USA.
• (2016) Development of the smallest 2 DOF robot for astrophysics survey. A robot with less than 7mm-diameter has been developed to provide a solution for high density robotized spectrographic surveys. This robot allows the realization of a robotic survey with more than a 10’000 robotic units in less than 1-meter diameter focal plate. This achievement is new and has not been communicated for confidentiality reasons.
• (2015-2016) Development of a 2 degrees of freedom backlash-free robot for astrophysic surveys requiring pitches around 25mm. 10 units have already been realized and characterized with a planar precision around 5 microns. This innovative achievement is carried out in collaboration with the Swiss company Maxon and is financed by the commission for innovation in Switzerland.
• (2016) Implementation of an optical characterization setup to measure tilting and planar precision of 2 dofs micro-positioners for astrophysic surveys. This setup is probably the lone setup providing automated characterization. This achievement is currently driving collaboration between our group and other international groups developing astrophysic surveys.
Topic 3: Miscellaneous (Industrial and Surgical robotics)
• (2012) 5-Axis parallel kinematic robotic device for polishing. This innovative achievement has been carried out in collaboration with the Swiss company Unitechnologies and has been financed by the commission for innovation in Switzerland.
• (2013) Development of a 3DOF direct drive parallel robot for fast pick and place. This achievement has been carried out in collaboration with the company Bosch Packaging Technologies and has been financed by the commission for innovation in Switzerland. The related technology has been patented (WO2012152559)
• (2013-2016) 3-handed manipulation for surgical applications. The relevance of 3 handed manipulations for surgery has been demonstrated. Foot based control strategies have been implemented to manipulate a camera using a parallel robot with 4 degrees of freedom. This definitely validated and demonstrated the feasibility of such an approach to assist surgeons in controlling the camera while having their hands free for manipulating the surgical tools
Publications
Infoscience publications
SDSS-V Algorithms: Fast, Collision-free Trajectory Planning for Heavily Overlapping Robotic Fiber Positioners
Astronomical Journal. 2021-02-01. DOI : 10.3847/1538-3881/abd0f2.Contact-Initiated Shared Control Strategies for Four-Arm Supernumerary Manipulation with Foot Interfaces
The International Journal of Robotics Research. 2021.Bio-inspired standing balance controller for a full-mobilization exoskeleton
US2021015694 . 2021.Experimental evaluation of complete safe coordination of astrobots for Sloan Digital Sky Survey V
Experimental Astronomy. 2020-12-19. DOI : 10.1007/s10686-020-09687-4.Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users
Frontiers In Robotics And Ai. 2020-11-16. DOI : 10.3389/frobt.2020.553828.The Industrialization of Astronomical Instrumentation: An Industrial Systems and Process Engineering Perspective
2020-01-01. Conference on Modeling, Systems Engineering, and Project Management for Astronomy IX, ELECTR NETWORK, Dec 14-22, 2020. p. 1145022. DOI : 10.1117/12.2562964.Optical test procedure for characterization and calibration of robotic fiber positioners for multiobject spectrographs
Journal Of Astronomical Telescopes Instruments And Systems. 2020-01-01. DOI : 10.1117/1.JATIS.6.1.018001.Precision control of miniature SCARA robots for multi-object spectrographs
International Journal Of Optomechatronics. 2020-01-01. DOI : 10.1080/15599612.2020.1829218.Precision Positioning of Microrobots for Multi-Object Spectrographs
Lausanne, EPFL, 2020. DOI : 10.5075/epfl-thesis-7774.Control Strategies for Lower-limb Exoskeletons: from Full Mobilization to Assistance of Balance
Lausanne, EPFL, 2020. DOI : 10.5075/epfl-thesis-7255.Bio-inspired adaptive impedance based controller for human-robot interaction and method
EP3840714 ; WO2020039409 . 2020.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.Non-invasive, Brain-controlled Functional Electrical Stimulation for Locomotion Rehabilitation in Individuals with Paraplegia
Scientific Reports. 2019-05-01. DOI : 10.1038/s41598-019-43041-9.Iterative learning control of multivariable uncertain nonlinear systems with nonrepetitive trajectory
Nonlinear Dynamics. 2019-02-01. DOI : 10.1007/s11071-018-4685-0.Iterative learning control for trajectory tracking of a parallel Delta robot
At-Automatisierungstechnik. 2019-02-01. DOI : 10.1515/auto-2018-0086.Bio-inspired design and validation of the Efficient Lockable Spring Ankle (ELSA) prosthesis
2019-01-01. 16th IEEE International Conference on Rehabilitation Robotics (ICORR), Toronto, CANADA, Jun 24-28, 2019. p. 411-416. DOI : 10.1109/ICORR.2019.8779421.Bio-inspired standing balance controller for a full-mobilization exoskeleton
2019-01-01. 16th IEEE International Conference on Rehabilitation Robotics (ICORR), Toronto, CANADA, Jun 24-28, 2019. p. 849-854. DOI : 10.1109/ICORR.2019.8779440.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.A New Time-Varying Feedback RISE Control of PKMs: Theory and Application
2019-01-01. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, PEOPLES R CHINA, Nov 04-08, 2019. p. 6775-6780. DOI : 10.1109/IROS40897.2019.8968228.Lean synthesis and application to lower-limb exoskeletons
Lausanne, EPFL, 2019. DOI : 10.5075/epfl-thesis-9823.Iterative Learning Control of a Parallel Delta Robot
2019-01-01. 3rd International Conference on Electrical Engineering and Control Applications (ICEECA), Constantine, Algeria, Nov 21-23, 2017. p. 72-83. DOI : 10.1007/978-3-319-97816-1_6.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.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.Nonlinear PD plus sliding mode control with application to a parallel delta robot
Journal Of Electrical Engineering-Elektrotechnicky Casopis. 2018-09-01. DOI : 10.2478/jee-2018-0048.EEG-based lower-limb movement onset decoding: Continuous classification and asynchronous detection
IEEE Transactions on Neural Systems and Rehabilitation Engineering. 2018-07-11. DOI : 10.1109/TNSRE.2018.2855053.Modular exoskeleton for example for spinal cord injured patients
EP3509557 ; US2019192373 ; WO2018047129 . 2018.Modular and minimally constraining lower limb exoskeleton for enhanced mobility and balance augmentation
US2019254908 ; EP3522847 ; WO2018065913 . 2018.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.Closed-Loop Functional Electrical Stimulation for Gait Training for Patients with Paraplegia
2018-01-01. IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, MALAYSIA, Dec 12-15, 2018. p. 1489-1495. DOI : 10.1109/ROBIO.2018.8665270.Nonlinear PD control of a Parallel Delta robot: Expermentals Results
2018-01-01. 3rd International Conference on Electrical Sciences and Technologies in Maghreb (CISTEM), Algiers, ALGERIA, Oct 28-31, 2018. p. 90-93. DOI : 10.1109/CISTEM.2018.8613618.Priority coordination of fiber positioners in multi-objects spectrographs
2018-01-01. Conference on Ground-Based and Airborne Instrumentation for Astronomy VII, Austin, TX, Jun 10-14, 2018. p. 107028K. DOI : 10.1117/12.2313962.Design and performances of an optical metrology system to test position and tilt accuracy of fiber positioners
2018-01-01. Conference on Advances in Optical and Mechanical Technologies for Telescopes and Instrumentation III, Austin, TX, Jun 10-15, 2018. p. 107066B. DOI : 10.1117/12.2313982.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.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.A new RISE-based adaptive control of PKMs: design, stability analysis and experiments
INTERNATIONAL JOURNAL OF CONTROL. 2018. DOI : 10.1080/00207179.2017.1286536.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.The effects of haptic-virtual reality game therapy on brain-motor coordination for children with hemiplegia: A pilot study
2017. International Conference on Virtual Rehabilitation (ICVR), Montreal, Canada, June 19-22, 2017. DOI : 10.1109/ICVR.2017.8007472.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.Brain-actuated gait trainer with visual and proprioceptive feedback
Journal of Neural Engineering. 2017. DOI : 10.1088/1741-2552/aa7df9.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.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.Development of Walk Assistive Orthoses for Elderly
Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-6947.Design of an H infinity controller for the Delta robot: experimental results
Advanced Robotics. 2015. DOI : 10.1080/01691864.2015.1046924.An 8-mm diameter fibre robot positioner for massive spectroscopy surveys
Monthly Notices Of The Royal Astronomical Society. 2015. DOI : 10.1093/mnras/stv541.Control of a Supernumerary Robotic Hand by Foot: An Experimental Study in Virtual Reality
PLOS ONE. 2015. DOI : 10.1371/journal.pone.0134501.Extracting partial decay rates of helium from complex rotation: autoionizing resonances of the one-dimensional configurations
Journal Of Physics B-Atomic Molecular And Optical Physics. 2015. DOI : 10.1088/0953-4075/48/2/025001.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.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.Mechanisms for actuated assistive hip orthoses
Robotics And Autonomous Systems. 2014. DOI : 10.1016/j.robot.2014.10.002.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.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.Collision avoidance in next-generation fiber positioner robotic systems for large survey spectrographs
Astronomy and Astrophysics journal. 2014. DOI : 10.1051/0004-6361/201323202.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.Conception d'axes motorisés rectilignes d'ultra-haute précision
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5665.Integral Backstepping for Attitude Tracking of a Quadrotor System
Elektronika Ir Elektrotechnika. 2011. DOI : 10.5755/j01.eee.116.10.888.Ultra-high-precision Industrial Robots Calibration
2011. 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, May 9-13, 2011. p. 228-233. DOI : 10.1109/ICRA.2011.5979746.A novel verticalized reeducation device for spinal cord injuries, the WalkTrainer: from design to the clinical trials
Cutting Edge Robotics; Intech publishing, 2010.The Linear Delta: Developments and Applications
2010. International Symposium on Robotics, Munich, June 7-9, 2010.Le robot Lambda, l’innovation au service de la remise en forme
Revue Polytechnique. 2009.A new concept of parallel robot for rehabilitation and fitness, The Lambda
2009. IEEE International Conference on Robotics and Biomimetics, Guillin, China, December 19-23, 2009.Control strategies for a verticalized rehabilitation robot
Lausanne, EPFL, 2009. DOI : 10.5075/epfl-thesis-4392.The WalkTrainer, a New Generation of Walking Reeducation Device Combining Orthoses and Muscle Stimulation
Transactions on Neural Systems and Rehabilitation Engineering. 2009. DOI : 10.1109/TNSRE.2008.2008288.Parallel robotics, from research to industry
Swiss-Taiwanese Bilateral Workshop, FNS supported, Taipei, January 11-18, 2008.New Variants of Delta Robots and Double-Tilt Platform for Assembly
2008. 3rd International Colloquium of the Collaborative Research Center, Braunschweig, Germany, April 28-29, 2008. p. 237-249.Pelvic motion measurement during over ground walking, analysis and implementation on the WalkTrainer reeducation device
2008. IROS, Nice, 2008.Clinical Trials with the WalkTrainer: Preliminary Results
2008. 16th Congress of the European Society of Biomechanics, Lucern, 2008.The WalkTrainer: A Robotic System for Walking Rehabilitation
2007. AUTOMED, Munich, 2007.Pelvic Motion Implementation on the WalkTrainer
2007. International Conference on Robotics and Biomimetics, Sanya, China, December 15-18, 2007. p. 133-138. DOI : 10.1109/ROBIO.2007.4522148.Cyberthèse. Mise en oeuvre d'un nouveau concept de rééducation pour paraplégiques
Journal Européen des systèmes automatisés (JESA). 2007.Research & Innovation in parallel kinematics
Swiss-Taiwanese Bilateral Workshop on Mechatronics and Robotics, EPFL, Lausanne, Mars 9-10, 2006.Improvement of rehabilitation possibilities with the MotionMaker™
2006. BioRob 2006, The first IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics,, Pisa, Italy, February 20-22, 2006. p. 359-364. DOI : 10.1109/BIOROB.2006.1639113.Re-education device for active walking of paraplegic and hemiplegic people
2006. LATSIS, Lausanne.The WalkTrainer™: A Robotic System for Walking Rehabilitation*
2006. Robio, Kunming (China), December 2006.Développement d’un modèle de contraction musculaire
2006Programmation d'un physiothérapeute robotisé
2006Environnement de réalité virtuelle pour la rééducation de paraplégiques
2006A Windows PC based robot controller: An open architecture
2005. International Symposium on Robotics, ISR, Tokyo, Japan, November 29 - December 01, 2005. p. 59-64.Towards a new Delta robot: an inverted Delta
2004. International Symposium on Robotics, ISR, Paris, France, March 23-26, 2004.Conception de dispositifs de rééducation motrice et d’assistance à la marche associant orthèse et électromyostimulation transcutanée rétrocontrôlée (Cyberthèse).
Innovations technologiques et handicap, 17e Entretiens de l'Institut Garches, Issy-les-Moulineaux, Paris, 25-26 novembre 2004.Profibus PC based motion control with application to a new 5 axes parallel kinematics
2004. International Symposium on Robotics, Paris, 2005.Hita-STT, a new parallel five-axis machine tool
2004. 4th Chemnitz Parallel Kinematics Seminar, Chemnitz, April 20-21, 2004. p. 529-544.Infoscience
SDSS-V Algorithms: Fast, Collision-free Trajectory Planning for Heavily Overlapping Robotic Fiber Positioners
Astronomical Journal. 2021-02-01. DOI : 10.3847/1538-3881/abd0f2.Contact-Initiated Shared Control Strategies for Four-Arm Supernumerary Manipulation with Foot Interfaces
The International Journal of Robotics Research. 2021.Bio-inspired standing balance controller for a full-mobilization exoskeleton
US2021015694 . 2021.Experimental evaluation of complete safe coordination of astrobots for Sloan Digital Sky Survey V
Experimental Astronomy. 2020-12-19. DOI : 10.1007/s10686-020-09687-4.Bioinspired Postural Controllers for a Locked-Ankle Exoskeleton Targeting Complete SCI Users
Frontiers In Robotics And Ai. 2020-11-16. DOI : 10.3389/frobt.2020.553828.The Industrialization of Astronomical Instrumentation: An Industrial Systems and Process Engineering Perspective
2020-01-01. Conference on Modeling, Systems Engineering, and Project Management for Astronomy IX, ELECTR NETWORK, Dec 14-22, 2020. p. 1145022. DOI : 10.1117/12.2562964.Optical test procedure for characterization and calibration of robotic fiber positioners for multiobject spectrographs
Journal Of Astronomical Telescopes Instruments And Systems. 2020-01-01. DOI : 10.1117/1.JATIS.6.1.018001.Precision control of miniature SCARA robots for multi-object spectrographs
International Journal Of Optomechatronics. 2020-01-01. DOI : 10.1080/15599612.2020.1829218.Precision Positioning of Microrobots for Multi-Object Spectrographs
Lausanne, EPFL, 2020. DOI : 10.5075/epfl-thesis-7774.Control Strategies for Lower-limb Exoskeletons: from Full Mobilization to Assistance of Balance
Lausanne, EPFL, 2020. DOI : 10.5075/epfl-thesis-7255.Bio-inspired adaptive impedance based controller for human-robot interaction and method
EP3840714 ; WO2020039409 . 2020.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.Non-invasive, Brain-controlled Functional Electrical Stimulation for Locomotion Rehabilitation in Individuals with Paraplegia
Scientific Reports. 2019-05-01. DOI : 10.1038/s41598-019-43041-9.Iterative learning control of multivariable uncertain nonlinear systems with nonrepetitive trajectory
Nonlinear Dynamics. 2019-02-01. DOI : 10.1007/s11071-018-4685-0.Iterative learning control for trajectory tracking of a parallel Delta robot
At-Automatisierungstechnik. 2019-02-01. DOI : 10.1515/auto-2018-0086.Bio-inspired design and validation of the Efficient Lockable Spring Ankle (ELSA) prosthesis
2019-01-01. 16th IEEE International Conference on Rehabilitation Robotics (ICORR), Toronto, CANADA, Jun 24-28, 2019. p. 411-416. DOI : 10.1109/ICORR.2019.8779421.Bio-inspired standing balance controller for a full-mobilization exoskeleton
2019-01-01. 16th IEEE International Conference on Rehabilitation Robotics (ICORR), Toronto, CANADA, Jun 24-28, 2019. p. 849-854. DOI : 10.1109/ICORR.2019.8779440.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.A New Time-Varying Feedback RISE Control of PKMs: Theory and Application
2019-01-01. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, PEOPLES R CHINA, Nov 04-08, 2019. p. 6775-6780. DOI : 10.1109/IROS40897.2019.8968228.Lean synthesis and application to lower-limb exoskeletons
Lausanne, EPFL, 2019. DOI : 10.5075/epfl-thesis-9823.Iterative Learning Control of a Parallel Delta Robot
2019-01-01. 3rd International Conference on Electrical Engineering and Control Applications (ICEECA), Constantine, Algeria, Nov 21-23, 2017. p. 72-83. DOI : 10.1007/978-3-319-97816-1_6.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.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.Nonlinear PD plus sliding mode control with application to a parallel delta robot
Journal Of Electrical Engineering-Elektrotechnicky Casopis. 2018-09-01. DOI : 10.2478/jee-2018-0048.EEG-based lower-limb movement onset decoding: Continuous classification and asynchronous detection
IEEE Transactions on Neural Systems and Rehabilitation Engineering. 2018-07-11. DOI : 10.1109/TNSRE.2018.2855053.Modular exoskeleton for example for spinal cord injured patients
EP3509557 ; US2019192373 ; WO2018047129 . 2018.Modular and minimally constraining lower limb exoskeleton for enhanced mobility and balance augmentation
US2019254908 ; EP3522847 ; WO2018065913 . 2018.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.Closed-Loop Functional Electrical Stimulation for Gait Training for Patients with Paraplegia
2018-01-01. IEEE International Conference on Robotics and Biomimetics (ROBIO), Kuala Lumpur, MALAYSIA, Dec 12-15, 2018. p. 1489-1495. DOI : 10.1109/ROBIO.2018.8665270.Nonlinear PD control of a Parallel Delta robot: Expermentals Results
2018-01-01. 3rd International Conference on Electrical Sciences and Technologies in Maghreb (CISTEM), Algiers, ALGERIA, Oct 28-31, 2018. p. 90-93. DOI : 10.1109/CISTEM.2018.8613618.Priority coordination of fiber positioners in multi-objects spectrographs
2018-01-01. Conference on Ground-Based and Airborne Instrumentation for Astronomy VII, Austin, TX, Jun 10-14, 2018. p. 107028K. DOI : 10.1117/12.2313962.Design and performances of an optical metrology system to test position and tilt accuracy of fiber positioners
2018-01-01. Conference on Advances in Optical and Mechanical Technologies for Telescopes and Instrumentation III, Austin, TX, Jun 10-15, 2018. p. 107066B. DOI : 10.1117/12.2313982.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.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.A new RISE-based adaptive control of PKMs: design, stability analysis and experiments
INTERNATIONAL JOURNAL OF CONTROL. 2018. DOI : 10.1080/00207179.2017.1286536.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.The effects of haptic-virtual reality game therapy on brain-motor coordination for children with hemiplegia: A pilot study
2017. International Conference on Virtual Rehabilitation (ICVR), Montreal, Canada, June 19-22, 2017. DOI : 10.1109/ICVR.2017.8007472.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.Brain-actuated gait trainer with visual and proprioceptive feedback
Journal of Neural Engineering. 2017. DOI : 10.1088/1741-2552/aa7df9.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.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.Development of Walk Assistive Orthoses for Elderly
Lausanne, EPFL, 2016. DOI : 10.5075/epfl-thesis-6947.Design of an H infinity controller for the Delta robot: experimental results
Advanced Robotics. 2015. DOI : 10.1080/01691864.2015.1046924.An 8-mm diameter fibre robot positioner for massive spectroscopy surveys
Monthly Notices Of The Royal Astronomical Society. 2015. DOI : 10.1093/mnras/stv541.Control of a Supernumerary Robotic Hand by Foot: An Experimental Study in Virtual Reality
PLOS ONE. 2015. DOI : 10.1371/journal.pone.0134501.Extracting partial decay rates of helium from complex rotation: autoionizing resonances of the one-dimensional configurations
Journal Of Physics B-Atomic Molecular And Optical Physics. 2015. DOI : 10.1088/0953-4075/48/2/025001.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.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.Mechanisms for actuated assistive hip orthoses
Robotics And Autonomous Systems. 2014. DOI : 10.1016/j.robot.2014.10.002.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.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.Collision avoidance in next-generation fiber positioner robotic systems for large survey spectrographs
Astronomy and Astrophysics journal. 2014. DOI : 10.1051/0004-6361/201323202.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.Conception d'axes motorisés rectilignes d'ultra-haute précision
Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5665.Integral Backstepping for Attitude Tracking of a Quadrotor System
Elektronika Ir Elektrotechnika. 2011. DOI : 10.5755/j01.eee.116.10.888.Ultra-high-precision Industrial Robots Calibration
2011. 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, May 9-13, 2011. p. 228-233. DOI : 10.1109/ICRA.2011.5979746.A novel verticalized reeducation device for spinal cord injuries, the WalkTrainer: from design to the clinical trials
Cutting Edge Robotics; Intech publishing, 2010.The Linear Delta: Developments and Applications
2010. International Symposium on Robotics, Munich, June 7-9, 2010.Le robot Lambda, l’innovation au service de la remise en forme
Revue Polytechnique. 2009.A new concept of parallel robot for rehabilitation and fitness, The Lambda
2009. IEEE International Conference on Robotics and Biomimetics, Guillin, China, December 19-23, 2009.Control strategies for a verticalized rehabilitation robot
Lausanne, EPFL, 2009. DOI : 10.5075/epfl-thesis-4392.The WalkTrainer, a New Generation of Walking Reeducation Device Combining Orthoses and Muscle Stimulation
Transactions on Neural Systems and Rehabilitation Engineering. 2009. DOI : 10.1109/TNSRE.2008.2008288.Parallel robotics, from research to industry
Swiss-Taiwanese Bilateral Workshop, FNS supported, Taipei, January 11-18, 2008.New Variants of Delta Robots and Double-Tilt Platform for Assembly
2008. 3rd International Colloquium of the Collaborative Research Center, Braunschweig, Germany, April 28-29, 2008. p. 237-249.Pelvic motion measurement during over ground walking, analysis and implementation on the WalkTrainer reeducation device
2008. IROS, Nice, 2008.Clinical Trials with the WalkTrainer: Preliminary Results
2008. 16th Congress of the European Society of Biomechanics, Lucern, 2008.The WalkTrainer: A Robotic System for Walking Rehabilitation
2007. AUTOMED, Munich, 2007.Pelvic Motion Implementation on the WalkTrainer
2007. International Conference on Robotics and Biomimetics, Sanya, China, December 15-18, 2007. p. 133-138. DOI : 10.1109/ROBIO.2007.4522148.Cyberthèse. Mise en oeuvre d'un nouveau concept de rééducation pour paraplégiques
Journal Européen des systèmes automatisés (JESA). 2007.Research & Innovation in parallel kinematics
Swiss-Taiwanese Bilateral Workshop on Mechatronics and Robotics, EPFL, Lausanne, Mars 9-10, 2006.Improvement of rehabilitation possibilities with the MotionMaker™
2006. BioRob 2006, The first IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics,, Pisa, Italy, February 20-22, 2006. p. 359-364. DOI : 10.1109/BIOROB.2006.1639113.Re-education device for active walking of paraplegic and hemiplegic people
2006. LATSIS, Lausanne.The WalkTrainer™: A Robotic System for Walking Rehabilitation*
2006. Robio, Kunming (China), December 2006.Développement d’un modèle de contraction musculaire
2006Programmation d'un physiothérapeute robotisé
2006Environnement de réalité virtuelle pour la rééducation de paraplégiques
2006A Windows PC based robot controller: An open architecture
2005. International Symposium on Robotics, ISR, Tokyo, Japan, November 29 - December 01, 2005. p. 59-64.Towards a new Delta robot: an inverted Delta
2004. International Symposium on Robotics, ISR, Paris, France, March 23-26, 2004.Conception de dispositifs de rééducation motrice et d’assistance à la marche associant orthèse et électromyostimulation transcutanée rétrocontrôlée (Cyberthèse).
Innovations technologiques et handicap, 17e Entretiens de l'Institut Garches, Issy-les-Moulineaux, Paris, 25-26 novembre 2004.Profibus PC based motion control with application to a new 5 axes parallel kinematics
2004. International Symposium on Robotics, Paris, 2005.Hita-STT, a new parallel five-axis machine tool
2004. 4th Chemnitz Parallel Kinematics Seminar, Chemnitz, April 20-21, 2004. p. 529-544.Teaching & PhD
Teaching
Microengineering
PhD Programs
PhD Students
Hernandez Sanchez Jacob, Manzoori Ali Reza, Orhan Zeynep Ozge, Roussinova Evgenia Vladimirova,Past EPFL PhD Students
Abdi Elahe , Baud Romain Pierre François , Cosandier Florent , Kronig Luzius Gregor , Olivier Jeremy , Ortlieb Amalric Louis , Stauffer Yves , Vouga Tristan Hubert ,Courses
Topics in Autonomous Robotics
(Coursebook not yet approved by the section)Robotics & the future of manufacturing I
This course is an ideal learning platform to address the topics of robotics and manufacturing. The theoretical basics of robotics are introduced. Systems, specifications and performances are discussed to understand well the technology and the related applications of robotics and manufacturingRobotics & the future of manufacturing II
This course is devoted to exploration projects in concern with robotics and manufacturing. The students with interdisciplinary backgrounds will have to design new products and address new markets around topics such as open robotics, rehabilitation robotics and transport.Basics of robotics for manipulation
This course introduces the basics of robotics for manipulation. The aspects concerning robot architectures (Serial , Parallel and Cartesian), sensors, kinematics and dynamic modelling and control are presented. Each of these theoretical topics is i concern with a industrial context.Applied and industrial robotics
This course is a real contact with industrial robotic applications. Components and mechanisms are reminded. The fields of microtechnical assembly and packaging are treated. CTOs from established companies (BlueBotics, Adept, Maxon motors and UniTechnologies) are involved in this course.Robotics practicals
The practicals can include the following topics:
- Teaching Robots to Accomplish a Manipulation Task
- Experimenting with haptic interfaces
- Controlling a serial robot ABB IRB 120
- Control of the Micro Delta Direct Drive robot
- LiniX, linear axis, assembly and control
Haptic human robot interfaces
This course teaches basic knowledge on haptic devices, force feedback and mechanical man-machine interfaces. Lectures are about 40 %, the rest is hands-on practical work with the "haptic paddle", a complete mechanical device with full laptop control interface. Realization of project in groups of 2.