Publications by Etienne Burdet

Development and Comparison of Foot Interfaces for Controlling a Robotic Arm in Surgery

Hannes Bleuler, Mohamed Bouri, Etienne Burdet, Elahe Abdi

Currently available foot interfaces to command an external assistive robotic arm for laparoscopic surgery typically consist of a couple of push buttons placed on a planar platform. In this paper, we develop and compare two foot interfaces implementing isot ...

IEEE2018

Effects of a neuromuscular controller on a powered ankle exoskeleton during human walking

Auke Ijspeert, Florin Dzeladini, Etienne Burdet, Arash Arami, Daniel Renjewski, Amy Roning Wu

Wearable devices to assist abnormal gaits require controllers that interact with the user in an intuitive and unobtrusive manner. To design such a controller, we investigated a bio-inspired walking controller for orthoses and prostheses. We present (i) a S ...

Ieee2016

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

Hannes Bleuler, Mohamed Bouri, Etienne Burdet, Elahe Abdi

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

Nature Research2016

A Neuromuscular Model for Symbiotic Man-Machine Exoskeleton Control Accounting for Patient Impairment Specificity

Auke Ijspeert, Florin Dzeladini, Etienne Burdet

Millions of people worldwide live with impaired locomotion. The degree of impairment is highly variable and the causes are multiple. This variation necessitates the design of a new generation of exoskeleton controllers for personalised, symbiotic man-machi ...

2014

Supplementary motor area and anterior intraparietal area integrate fine-graded timing and force control during precision grip

Roger Gassert, Dominique Chapuis, Etienne Burdet

We investigated the neuronal processing of the physiologically particularly important precision grip (opposition of index finger and thumb) by the combination of functional magnetic resonance imaging (fMRI) and an MR-compatible haptic interface. Ten health ...

Wiley-Blackwell2009

A hybrid ultrasonic motor and electrorheological fluid clutch actuator for force-feedback in MRI/fMRI

Hannes Bleuler, Roger Gassert, Dominique Chapuis, Etienne Burdet

This paper presents a safe, electrically powered MR-compatible actuator with a large range of output impedance, which can be used at the entry of the scanner bore. This actuator is composed of an ultrasonic motor (USM) and a torque-controlled electrorheolo ...

2008

HandCARE: a cable-actuated rehabilitation system to train hand function after stroke

Thomas Maeder, Roger Gassert, Olivier Lambercy, Ludovic Dovat, Etienne Burdet

We have developed a robotic interface to train hand and ﬁnger function. HandCARE is a Cable-Actuated REhabilitation system, in which each ﬁnger is attached to an instrumented cable loop allowing force control and a predominantly linear displacement. The de ...

Institute of Electrical and Electronics Engineers2008

Development of a Microsurgery Training System

Hannes Bleuler, Fei Wang, Etienne Burdet

Surgeons require significant training to acquire sufficient dexterity and hand-eye coordination to manipulate objects skilfully under the microscope. This paper presents a computer-based real-time simulation of microsurgery as well as the hardware setup. I ...

IEEE2008

A Haptic Knob with a Hybrid Ultrasonic Motor and Powder Clutch Actuator

Hannes Bleuler, Roger Gassert, Dominique Chapuis, Xavier Michel, Etienne Burdet

In haptics, the forces to be displayed vary widely in terms of magnitude and bandwidth. A single actuator can hardly comply with these requirements. It has thus been proposed to combine electrical motors and passive devices in a hybrid actuator to cover a ...

2007

MRI/fMRI-Compatible Robotic System With Force Feedback for Interaction With Human Motion

Roland Moser, Hannes Bleuler, Roger Gassert, Etienne Burdet

This paper presents a robotic system that is compatible with anatomical magnetic resonance imaging (MRI) as well as with the more sensitive functional MRI (fMRI), and can safely and smoothly interact with humanmotion during the imaging. The system takes ad ...

2006

Active Mechatronic Interface for Haptic Perception Studies with Functional Magnetic Resonance Imaging: Compatibility and Design Criteria

Hannes Bleuler, Roger Gassert, Dominique Chapuis, Etienne Burdet

Functional brain exploration methodologies such as functional magnetic resonance imaging (fMRI) are critical tools to study perceptual and cognitive processes. In order to develop complex and well-controlled fMRI paradigms, researchers are interested in us ...

2006

A 2-DOF fMRI compatible haptic interface to investigate the neural control of arm movements

Hannes Bleuler, Roger Gassert, Dominique Chapuis, Olivier Lambercy, Ludovic Dovat, Yves Ruffieux, Etienne Burdet

This paper describes a two-degrees-of-freedom haptic interface to investigate the brain mechanisms of human motor control, which is capable of safely and gently interacting with human arm motion during functional magnetic resonance imaging (fMRI). A hydros ...

2006

Actuation Methods for Applications in MR Environments

Hannes Bleuler, Roger Gassert, Dominique Chapuis, Ludovic Dovat, Etienne Burdet

The choice of an adequate actuation method is a central issue in the development of any mechatronic device and strongly determines the dynamic performances of the system. This choice is particularly difficult for robotic systems working within a magnetic r ...

2006

Hybrid Ultrasonic Motor and Electrorheological Clutch System for MR-Compatible Haptic Rendering

Hannes Bleuler, Roger Gassert, Dominique Chapuis, Etienne Burdet

Using haptic interfaces in combination with functional magnetic resonance imaging (fMRI) could lead to important insights into the brain mechanisms of human motor control and related dysfunctions. However, in addition to the usual requirements for haptic i ...

IEEE2006

Investigation of a Cable Transmission for the Actuation of MR Compatible Haptic Interfaces

Hannes Bleuler, Roger Gassert, Dominique Chapuis, Ganesh Gowrishankar, Etienne Burdet

This paper investigates a cable transmission to remotely actuate MR compatible robots over a distance of several meters. Such a transmission could be an interesting solution for haptic interfaces for neuroscience studies performing force feedback during fu ...

2006

Multi-Joint Arm Movements to Investigate Motor Control with fMRI

Hannes Bleuler, Roger Gassert, Ludovic Dovat, Etienne Burdet

Performing multi-joint arm movements in controllable dynamic environments during functional magnetic resonance imaging (fMRI) could provide important insights into the brain mechanisms involved in human motor control and related dysfunctions. In order to o ...

2005

Knot-tying with Visual and Force Feedback for VR Laparoscopic Training

Hannes Bleuler, Fei Wang, Etienne Burdet

Real-time simulation of thread and knot-tying with visual and force feedback is an essential part of virtual reality laparoscopic training. This paper presents a physics-based thread simulator that enables realistic knot tying at haptic rendering rate. The ...

2005

Dynamic thread for real-time knot-tying

Ankur Dhanik, Fei Wang, Etienne Burdet

Real-time simulation of knot-tying with visual and force feedback is essential to VR surgery training. We present a physics-based simulator that enables realistic knot tying at haptic speed. The virtual thread obeys Newton's laws and behaves naturally. The ...

2005