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Mohamed Bouri

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Publications associées (100)

INSPIIRE - A Modular and Passive Exoskeleton to Investigate Human Walking and Balance

Mohamed Bouri, Romain Pierre François Baud

Powered exoskeletons for SCI patients are mainly limited by their inability to balance dynamically during walking. To investigate and understand the control strategies of human bipedal locomotion, we developed INSPIIRE, a passive exoskeleton. This device c ...

IEEE2023

The Robotic Multiobject Focal Plane System of the Dark Energy Spectroscopic Instrument (DESI)

Mohamed Bouri, Luzius Gregor Kronig, Philipp Hörler, Jean-Paul Richard Kneib

A system of 5020 robotic fiber positioners was installed in 2019 on the Mayall Telescope, at Kitt Peak National Observatory. The robots automatically retarget their optical fibers every 10-20 minutes, each to a precision of several microns, with a reconfig ...

IOP Publishing Ltd2023

Gait Phase Estimation in Steady Walking: A Comparative Study of Methods Based on the Phase Portrait of the Hip Angle

Mohamed Bouri, Auke Ijspeert, Davide Malatesta, Coline Lugaz, Ali Reza Manzoori, Tian Ye

Accurate real-time estimation of the gait phase (GP) is crucial for many control methods in exoskeletons and prostheses. A class of approaches to GP estimation construct the phase portrait of a segment or joint angle, and use the normalized polar angle of ...

IEEE Xplore2023

FeedForward Super-Twisting Sliding Mode Control for Robotic Manipulators: Application to PKMs

Mohamed Bouri

This article deals with the development and implementation of a novel feedforward super-twisting sliding mode controller for robotic manipulators. A full stability analysis based on a Lyapunov candidate is established showing a local asymptotic finite-time ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

A Public Data Set of Videos, Inertial Measurement Unit, and Clinical Scales of Freezing of Gait in Individuals With Parkinson's Disease During a Turning-In-Place Task

Mohamed Bouri, Solaiman Shokur

FRONTIERS MEDIA SA2022

An Enhanced Adaptive Time Delay Control-Based Integral Sliding Mode for Trajectory Tracking of Robot Manipulators

Mohamed Bouri

This article proposes an enhanced adaptive time delay controller (ATDC) for robot manipulators subjected to external disturbances. This approach is model-free and uses time delay estimation (TDE) to estimate complex and unknown robot dynamics. First, to re ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Biomechanical aspects that precede freezing episode during gait in individuals with Parkinson's disease: A systematic review

Mohamed Bouri, Solaiman Shokur

Background: The freezing episode (FE) management during gait in Parkinson's disease is inefficient with current medications, neurosurgery, and physical interventions. Knowing the biomechanical change patients suffer preceding FE would be the ultimate goal ...

ELSEVIER IRELAND LTD2022

Kinematics predictors of spatiotemporal parameters during gait differ by age in healthy individuals

Mohamed Bouri, Solaiman Shokur

Joint biomechanics and spatiotemporal gait parameters change with age or disease and are used in treatment decision-making. Research question: To investigate whether kinematic predictors of spatiotemporal parameters during gait differ by age in healthy ind ...

ELSEVIER IRELAND LTD2022

Are Functional Measures Sufficient to Capture Acceptance? A Qualitative Study on Lower Limb Exoskeleton Use for Older People

Mohamed Bouri

Lower limb exoskeletons (LLE) are robotic devices developed to assist walk. In the field of healthcare, this technology has been available for almost a decade, yet it still faces important acceptance issues. While LLE were first developed for patients with ...

SPRINGER2022

TWIICE One powered exoskeleton: effect of design improvements on usability in daily life as measured by the performance in the CYBATHLON race

Mohamed Bouri, Ali Reza Manzoori

Background Spinal cord injury leading to paraplegia affects the mobility and physiological well-being of one in a thousand people. Powered exoskeletons can temporarily restore the ability to walk. Their relevance in daily life is still limited because of l ...

BioMed Central2022

MegaMapper: Concept and Optical Design for a 6.5 m Aperture Massively Multiplexed Spectroscopic Facility

Mohamed Bouri, Jean-Paul Richard Kneib, Ricardo Jorge Araùjo Pereira

MegaMapper is a 6.5m Magellan-like telescope fitted with a wide-field-corrector (WFC) and atmospheric-dispersion-corrector (ADC) that delivers a 3. diameter corrected field-of-view. The telescope's focal surface is populated by similar to 25, 000 robotic f ...

SPIE-INT SOC OPTICAL ENGINEERING2022

Bio-inspired standing balance controller for a full-mobilization exoskeleton

Mohamed Bouri, Romain Pierre François Baud, Jemina Fasola, Tristan Hubert Vouga

The invention concerns a method of performing automatic standing balance of a user in a full mobilization exoskeleton with at least a foot and using at least two actuated degrees of freedom, wherein a controller uses information provided from sensors to pr ...

2021

Contact-Initiated Shared Control Strategies for Four-Arm Supernumerary Manipulation with Foot Interfaces

Mohamed Bouri, Aude Billard, Walid Amanhoud, Jacob Hernandez Sanchez

2021

SDSS-V Algorithms: Fast, Collision-free Trajectory Planning for Heavily Overlapping Robotic Fiber Positioners

Mohamed Bouri, Luzius Gregor Kronig, Jean-Paul Richard Kneib, Loïc Grossen, Ricardo Jorge Araùjo Pereira

Robotic fiber positioner (RFP) arrays are becoming heavily adopted in wide-field massively multiplexed spectroscopic survey instruments. RFP arrays decrease nightly operational overheads through rapid reconfiguration between fields and exposures. In compar ...

2021

Review of control strategies for lower-limb exoskeletons to assist gait

Mohamed Bouri, Auke Ijspeert, Romain Pierre François Baud, Ali Reza Manzoori

Background Many lower-limb exoskeletons have been developed to assist gait, exhibiting a large range of control methods. The goal of this paper is to review and classify these control strategies, that determine how these devices interact with the user. Met ...

BioMed Central2021

Detecting Freezing of Gait in Parkinson's Disease Patient via Deep Residual Network

Mohamed Bouri, Solaiman Shokur

Freezing of Gait (FoG) is a common condition in patients with Parkinson's disease (PD). It often leads to falls, and it severely affects the patient's quality of life. Although the neural mechanism of FoG is not well-known, wearable sensorbased assistive s ...

IEEE2021

Experimental evaluation of direct thromboaspiration efficacy according to the angle of interaction between the aspiration catheter and the clot

Mohamed Bouri, Philippe Reymond

Background Successful direct thromboaspiration (DTA) is related to several factors such as clot consistency, size, and location. It has also been demonstrated recently that the angle of interaction (AOI) formed by the aspiration catheter and the clot is re ...

2021

Foot Control of a Surgical Laparoscopic Gripper via 5DoF Haptic Robotic Platform: Design, Dynamics and Haptic Shared Control

Mohamed Bouri, Aude Billard, Walid Amanhoud, Jacob Hernandez Sanchez

Foot devices have been ubiquitously used in surgery to control surgical equipment. Most common applications are foot switches for electro-surgery, endoscope positioning and tele-robotic consoles. Switches fall short of providing continuous control as requi ...

2021

Model-Free Iterative Learning Control With Nonrepetitive Trajectories for Second-Order MIMO Nonlinear Systems-Application to a Delta Robot

Mohamed Bouri

A model-free iterative learning control strategy (ILC) in nonrepetitive trajectories, applied to robotic manipulators is presented in this article. The development of this ILC controller is derived in general case for second-order nonlinear multi-input mul ...

2021

Cable-Driven Robotic Interface for Lower Limb Neuromechanics Identification

Mohamed Bouri

This paper presents a versatile cable-driven robotic interface to investigate the single-joint joint neuromechanics of the hip, knee and ankle in the sagittal plane. This endpoint-based interface offers highly dynamic interaction and accurate position cont ...

2021

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