Mohamed Bouri
Senior Scientist
mohamed.bouri@epfl.ch +41 21 693 73 46 http://rehassist.epfl.ch
Citizenship: Suisse
ResearchGate
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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
1- Lower Limb Exoskeletons and Rehabilitation
Lower limb exoskeletons:Since 2011, we are developing lower limb powered orthotic devices to assist gait for different categories of people. The first development of a flexion-extension hip orthosis HiBSO allowed us to evaluate different control strategies and start several collaborations. Then, two innovative concepts of fully actuated lower limb exoskeletons have been initiated: AUTONOMYO (2014-) and TWIICE (2015-).
TWIICE [1] is weighting now about 16kg and is capable to make people with spinal cord injury (SCI) of more than 100 kg walking again. TWIICE is the worldwide lightest exoskeleton enabling people with SCI to walk, stand and climb stairs (ref patent WO 2018/047129 A1). TWIICE won the silver medal at the international Cybathlon exoskeleton race (2020). Human-inspired balance control strategies have been implemented, which makes our exoskeleton the lone capable to sagittally stabilize a complete SCI user without requiring crutches. A current project is ongoing to develop a gait-assistance rehabilitation strategy in people with stroke. |
Autonomyo is a crutch-less powered exoskeleton to partially assist gait and balance for people with Neuro Muscular Dystrophy (NMD). This project is supported by 2 Swiss foundations active against Myopathy (ASRIMM[2] and FSRMM[3]). A new version has been released in 2019 and a clinical investigation is planned with CHUV, involving people with NMD and with multiple sclerosis (MS). A patent of variable impedance assistance strategy has also been filed. Currently, a new project is ongoing in collaboration with the group Faulhaber to develop crutch-less balance assisting strategies and implement clinical validations and evaluations in people with NMD and MS.
sFES: My established expertise in surface functional electrical stimulation (sFES) comes from the developments of the sitting position device MotionMaker® (2001-2012) and the over-ground gait trainer WalkTrainer® (2005-2014). Both are hybrid devices that associate actuated orthoses and sFES [AI2] and are dedicated to subjects with spinal cord injury (SCI). The conducted clinical studies pointed out the potential of using sFES to strengthen muscles, to reduce spasms and train gait. | In collaboration with the neuro rehabilitation center AASDAP (Br) (2016-2019), we implemented a closed loop sFES gait control, combined with BCI and sensory vibrotactile substitution. Our expertise concerned sFES, sensory substitution and hardware. An 18-month clinical study have been conducted with 3 complete-SCI. These patients were able to improve their gait. We also observed cardiovascular improvements and less dependency on walking assistance, but also partial neurological recovery in both patients, with substantial rates of motor improvement for one of them.
2- Surgical applications
In collaboration with Prof E. Burdet (Imperial college), we pioneered the investigation of 3-handed manipulation for surgical applications, to give surgeons the possibility to coordinate by foot control a robotic arm as their third arm. A feasibility of such an approach has been validated in controlling a camera while having hands free for manipulating surgical tools. In 2017, with Prof A. Billard and the institute SFITS (HUGe - Geneva) in Geneva we started a new project supported by the foundation Hasler to go beyond 3-handed manipulation and assess a real 4-handed surgery. Two 5 degrees-of-freedom haptic interfaces are now developed and a shared control strategy (SCS) implemented. The results are promising and point out that haptic based SCS effectively assists foot to control a robotic arm. A 4-handed manipulation in a laparoscopic surgery scenario is in progress. Furthermore, we also developed several surgical robots for laparoscopy and currently collaborating with Dr P. Machi (Hospital of Geneva), in a framework of an SNF project, to implement a robotic surgical application with haptic feedback.
3- Robotized Surveys for Astrophysics
Astrobot is a multi-disciplinary research group that I co-founded with Prof. JP Kneib (LASTRO) and Dr D. Gillet (REACT). My research group is in charge of the implementation of the micro robotic positioners, the control and calibration solutions to finally carry out the astrophysics observations of galaxies using existing telescopes. The robots are massively deployed on the focal plate of a telescope, 500 to 5000 micro positioners depending on the telescope. Our relevant achievements in this field are recognized worldwide and are currently driving our collaborations with several international projects (DESI, MOONS, SDSS, PFS…). Particularly, we developed a world smallest robot, with 7.2 mm-diameter, reaching thus a density of more than 10’000 positioners in less than 1-meter diameter focal plate.
[1] TWIICE was also at the final in 2016 -the project benefitted of several national and international media coverages (RTS. NZZ, BBC, Fr2, Planète, Reuters, Bloomberg, 24h, Lematin,….).[2] Association Suisse Romande Intervenant contre les Maladies neuro Musculaire and [3] Fondation Suisse de Recherche sur les Maladies neuro Musculaire
Publications
Infoscience publications
Can micro-guidewire advancement forces predict clot consistency and location to assist the first-line technique for mechanical thrombectomy?
Journal Of Neurointerventional Surgery. 2024-04-18. DOI : 10.1136/jnis-2024-021477.Evaluation of controllers for augmentative hip exoskeletons and their effects on metabolic cost of walking: explicit versus implicit synchronization
Frontiers In Bioengineering And Biotechnology. 2024-03-12. DOI : 10.3389/fbioe.2024.1324587.Nonstandard Errors
Journal Of Finance. 2024-04-17. DOI : 10.1111/jofi.13337.Augmenting locomotor perception by remapping tactile foot sensation to the back
Journal of NeuroEngineering and Rehabilitation. 2024. DOI : 10.1186/s12984-024-01344-7.Novel Design and Implementation of a Neuromuscular Controller on a Hip Exoskeleton for Partial Gait Assistance
2023-09-27. 2023 International Conference on Rehabilitation Robotics (ICORR), Singapore, September 24-28, 2023. DOI : 10.1109/ICORR58425.2023.10304758.FeedForward Super-Twisting Sliding Mode Control for Robotic Manipulators: Application to PKMs
Ieee Transactions On Robotics. 2023-04-11. DOI : 10.1109/TRO.2023.3255586.Immediate effect of ankle exoskeleton on spatiotemporal parameters and center of pressure trajectory after stroke
2023-01-01. International Conference on Rehabilitation Robotics (ICORR), Singapore, SINGAPORE, SEP 24-28, 2023. DOI : 10.1109/ICORR58425.2023.10304816.INSPIIRE - A Modular and Passive Exoskeleton to Investigate Human Walking and Balance
2023-01-01. International Conference on Rehabilitation Robotics (ICORR), Singapore, SINGAPORE, SEP 24-28, 2023. DOI : 10.1109/ICORR58425.2023.10304706.State-Based Versus Time-Based Estimation of the Gait Phase for Hip Exoskeletons in Steady and Transient Walking
2023. 2023 International Conference on Rehabilitation Robotics (ICORR), Singapore, September 24-28, 2023. p. 1-6. DOI : 10.1109/ICORR58425.2023.10304786.Gait Phase Estimation in Steady Walking: A Comparative Study of Methods Based on the Phase Portrait of the Hip Angle
2023. 2023 International Conference on Rehabilitation Robotics (ICORR), Singapore, September 24-28, 2023. p. 1-6. DOI : 10.1109/ICORR58425.2023.10304747.Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces
The International Journal of Robotics Research. 2023. DOI : 10.1177/02783649231180366.Effect of freezing of gait and dopaminergic medication in the biomechanics of lower limbs in the gait of patients with Parkinson's disease compared to neurologically healthy
Neuroscience Letters. 2023-04-15. DOI : 10.1016/j.neulet.2023.137250.The Robotic Multiobject Focal Plane System of the Dark Energy Spectroscopic Instrument (DESI)
Astronomical Journal. 2023-01-01. DOI : 10.3847/1538-3881/ac9ab1.ADRIOS - Capture System Technologies
Swiss space week 2022, EPFL, 2022-03-30.Foot-Interfaces Control and Human-Robot Interaction in Four-Handed Manipulation
Lausanne, EPFL, 2022. DOI : 10.5075/epfl-thesis-9286.Biomechanical aspects that precede freezing episode during gait in individuals with Parkinson's disease: A systematic review
Gait & Posture. 2022-01-01. DOI : 10.1016/j.gaitpost.2021.10.021.Are Functional Measures Sufficient to Capture Acceptance? A Qualitative Study on Lower Limb Exoskeleton Use for Older People
International Journal Of Social Robotics. 2022. DOI : 10.1007/s12369-021-00810-9.Experimental evaluation of direct thromboaspiration efficacy according to the angle of interaction between the aspiration catheter and the clot
Journal Of Neurointerventional Surgery. 2021-12-01. DOI : 10.1136/neurintsurg-2020-016889.Identifying Reactive Sites and Surface Traps in Chalcopyrite Photocathodes
Angewandte Chemie-International Edition. 2021-10-01. DOI : 10.1002/anie.202108994.Model-Free Iterative Learning Control With Nonrepetitive Trajectories for Second-Order MIMO Nonlinear Systems-Application to a Delta Robot
Ieee Transactions On Industrial Electronics. 2021-08-01. DOI : 10.1109/TIE.2020.3007091.Review of control strategies for lower-limb exoskeletons to assist gait
Journal Of Neuroengineering And Rehabilitation. 2021-07-27. DOI : 10.1186/s12984-021-00906-3.Cable-Driven Robotic Interface for Lower Limb Neuromechanics Identification
Ieee Transactions On Biomedical Engineering. 2021-02-01. DOI : 10.1109/TBME.2020.3004491.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.Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control
2021. IEEE International Conference on Robotics and Automation (ICRA) 2021, Xi'an China, May 30th - June 5th, 2021. p. 12559-12566. DOI : 10.1109/ICRA48506.2021.9561887.Contact-Initiated Shared Control Strategies for Four-Arm Supernumerary Manipulation with Foot Interfaces
The International Journal of Robotics Research. 2021. DOI : 10.1177/02783649211017642.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
US2021251838 ; 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.Modular exoskeleton for example for spinal cord injured patients
US11278465 ; EP3509557 ; US2019192373 ; WO2018047129 . 2018.Modular and minimally constraining lower limb exoskeleton for enhanced mobility and balance augmentation
US11642271 ; EP3522847 ; 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.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.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. p. 2503-2508. DOI : 10.1109/ROBIO.2009.5420481.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. p. 2362-2367. DOI : 10.1109/IROS.2008.4650579.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.Infoscience
Can micro-guidewire advancement forces predict clot consistency and location to assist the first-line technique for mechanical thrombectomy?
Journal Of Neurointerventional Surgery. 2024-04-18. DOI : 10.1136/jnis-2024-021477.Evaluation of controllers for augmentative hip exoskeletons and their effects on metabolic cost of walking: explicit versus implicit synchronization
Frontiers In Bioengineering And Biotechnology. 2024-03-12. DOI : 10.3389/fbioe.2024.1324587.Nonstandard Errors
Journal Of Finance. 2024-04-17. DOI : 10.1111/jofi.13337.Augmenting locomotor perception by remapping tactile foot sensation to the back
Journal of NeuroEngineering and Rehabilitation. 2024. DOI : 10.1186/s12984-024-01344-7.Novel Design and Implementation of a Neuromuscular Controller on a Hip Exoskeleton for Partial Gait Assistance
2023-09-27. 2023 International Conference on Rehabilitation Robotics (ICORR), Singapore, September 24-28, 2023. DOI : 10.1109/ICORR58425.2023.10304758.FeedForward Super-Twisting Sliding Mode Control for Robotic Manipulators: Application to PKMs
Ieee Transactions On Robotics. 2023-04-11. DOI : 10.1109/TRO.2023.3255586.Immediate effect of ankle exoskeleton on spatiotemporal parameters and center of pressure trajectory after stroke
2023-01-01. International Conference on Rehabilitation Robotics (ICORR), Singapore, SINGAPORE, SEP 24-28, 2023. DOI : 10.1109/ICORR58425.2023.10304816.INSPIIRE - A Modular and Passive Exoskeleton to Investigate Human Walking and Balance
2023-01-01. International Conference on Rehabilitation Robotics (ICORR), Singapore, SINGAPORE, SEP 24-28, 2023. DOI : 10.1109/ICORR58425.2023.10304706.State-Based Versus Time-Based Estimation of the Gait Phase for Hip Exoskeletons in Steady and Transient Walking
2023. 2023 International Conference on Rehabilitation Robotics (ICORR), Singapore, September 24-28, 2023. p. 1-6. DOI : 10.1109/ICORR58425.2023.10304786.Gait Phase Estimation in Steady Walking: A Comparative Study of Methods Based on the Phase Portrait of the Hip Angle
2023. 2023 International Conference on Rehabilitation Robotics (ICORR), Singapore, September 24-28, 2023. p. 1-6. DOI : 10.1109/ICORR58425.2023.10304747.Enabling four-arm laparoscopic surgery by controlling two robotic assistants via haptic foot interfaces
The International Journal of Robotics Research. 2023. DOI : 10.1177/02783649231180366.Effect of freezing of gait and dopaminergic medication in the biomechanics of lower limbs in the gait of patients with Parkinson's disease compared to neurologically healthy
Neuroscience Letters. 2023-04-15. DOI : 10.1016/j.neulet.2023.137250.The Robotic Multiobject Focal Plane System of the Dark Energy Spectroscopic Instrument (DESI)
Astronomical Journal. 2023-01-01. DOI : 10.3847/1538-3881/ac9ab1.ADRIOS - Capture System Technologies
Swiss space week 2022, EPFL, 2022-03-30.Foot-Interfaces Control and Human-Robot Interaction in Four-Handed Manipulation
Lausanne, EPFL, 2022. DOI : 10.5075/epfl-thesis-9286.Biomechanical aspects that precede freezing episode during gait in individuals with Parkinson's disease: A systematic review
Gait & Posture. 2022-01-01. DOI : 10.1016/j.gaitpost.2021.10.021.Are Functional Measures Sufficient to Capture Acceptance? A Qualitative Study on Lower Limb Exoskeleton Use for Older People
International Journal Of Social Robotics. 2022. DOI : 10.1007/s12369-021-00810-9.Experimental evaluation of direct thromboaspiration efficacy according to the angle of interaction between the aspiration catheter and the clot
Journal Of Neurointerventional Surgery. 2021-12-01. DOI : 10.1136/neurintsurg-2020-016889.Identifying Reactive Sites and Surface Traps in Chalcopyrite Photocathodes
Angewandte Chemie-International Edition. 2021-10-01. DOI : 10.1002/anie.202108994.Model-Free Iterative Learning Control With Nonrepetitive Trajectories for Second-Order MIMO Nonlinear Systems-Application to a Delta Robot
Ieee Transactions On Industrial Electronics. 2021-08-01. DOI : 10.1109/TIE.2020.3007091.Review of control strategies for lower-limb exoskeletons to assist gait
Journal Of Neuroengineering And Rehabilitation. 2021-07-27. DOI : 10.1186/s12984-021-00906-3.Cable-Driven Robotic Interface for Lower Limb Neuromechanics Identification
Ieee Transactions On Biomedical Engineering. 2021-02-01. DOI : 10.1109/TBME.2020.3004491.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.Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control
2021. IEEE International Conference on Robotics and Automation (ICRA) 2021, Xi'an China, May 30th - June 5th, 2021. p. 12559-12566. DOI : 10.1109/ICRA48506.2021.9561887.Contact-Initiated Shared Control Strategies for Four-Arm Supernumerary Manipulation with Foot Interfaces
The International Journal of Robotics Research. 2021. DOI : 10.1177/02783649211017642.Bio-inspired standing balance controller for a full-mobilization exoskeleton
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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
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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.Modular exoskeleton for example for spinal cord injured patients
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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.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.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. p. 2503-2508. DOI : 10.1109/ROBIO.2009.5420481.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. p. 2362-2367. DOI : 10.1109/IROS.2008.4650579.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.Teaching & PhD
Teaching
Microengineering
PhD Students
Manzoori Ali Reza, Orhan Zeynep Ozge, Ramella Giulia, Roussinova Evgenia Vladimirova, Zorkot Mouhamed,Past EPFL PhD Students
Abdi Elahe , Baud Romain Pierre François , Cosandier Florent , Hernandez Sanchez Jacob , Kronig Luzius Gregor , Olivier Jeremy , Ortlieb Amalric Louis , Stauffer Yves , Vouga Tristan Hubert ,Courses
Topics in Autonomous Robotics
Applied and industrial robotics
Robotics practicals
- 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