Publications
384 results found
Zeng Q, Burdet E, Rebsamen B, et al., 2008, A Collaborative Wheelchair System, IEEE Transactions on Neural Systems and Rehabilitation, Vol: (in press)
Liaw G, Franklin DW, Burdet E, et al., 2008, Reflex contributions to the directional tuning of arm stiffness, 14th International Conference on Neural Information Processing (ICONIP 2007), Publisher: SPRINGER-VERLAG BERLIN, Pages: 913-+, ISSN: 0302-9743
Dovat L, Lambercy O, Salman B, et al., 2008, Post-Stroke Training of a Pick and Place Activity in a Virtual Environment, Virtual Rehabilitation 2008 Conference, Publisher: IEEE, Pages: 28-+
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- Citations: 7
Dovat L, Lambercy O, Gassert R, et al., 2008, <i>HandCARE2</i>: A Novel Cable Interface for Hand Rehabilitation, Virtual Rehabilitation 2008 Conference, Publisher: IEEE, Pages: 64-64
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- Citations: 7
Kadiallah A, Liaw G, Burdet E, et al., 2008, Impedance control is tuned to multiple directions of movement, 30th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society, Publisher: IEEE, Pages: 5358-+, ISSN: 1557-170X
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- Citations: 1
Zeng Q, Burdet E, Teo CL, 2008, User Evaluation of a Collaborative Wheelchair System, 30th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society, Publisher: IEEE, Pages: 1956-+, ISSN: 1557-170X
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- Citations: 5
Zhou L, Teo CL, Burdet E, 2008, A nonlinear elastic path controller for a robotic wheelchair, 3rd IEEE Conference on Industrial Electronics and Applications (ICIEA 2008), Publisher: IEEE, Pages: 142-+, ISSN: 2156-2318
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- Citations: 3
Zeng Q, Teo CL, Burdet E, 2008, Is the Collaborative Wheelchair Adapted to Cerebral Palsy and Traumatic Brain Injury Subjects?, 30th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society, Publisher: IEEE, Pages: 1965-+, ISSN: 1557-170X
Chapuis D, Gassert R, Burdet E, et al., 2008, A Hybrid Ultrasonic Motor and Electrorheological Fluid Clutch Actuator for Force-Feedback in MRI/fMRI, 30th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society, Publisher: IEEE, Pages: 3438-+, ISSN: 1557-170X
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- Citations: 12
Kadiallah A, Liaw G, Burdet E, et al., 2008, Impedance control is tuned to multiple directions of movement., Annu Int Conf IEEE Eng Med Biol Soc, Vol: 2008, Pages: 5358-5361, ISSN: 2375-7477
Humans are able to learn tool-handling tasks, such as carving, demonstrating their competency to make and vary the direction of movements in unstable environments. It has been shown that when a single reaching movement is repeated in unstable dynamics, the central nervous system (CNS) learns an impedance internal model to compensate for the environment instability. However, there is still no explanation for how humans can learn to move in various directions in such environments. In this study, we investigated whether and how humans compensate for instability while learning two different reaching movements simultaneously. Results show that when performing movements in two different directions, separated by a 35 degrees angle, the CNS was able to compensate for the unstable dynamics. After adaptation, the force was found to be similar to the free movement condition, but stiffness increased in the direction of instability, specifically for each direction of movement. Our findings suggest that the CNS either learned an internal model generalizing over different movements, or alternatively that it was able to switch between specific models acquired simultaneously.
Gowrishankar G, Burdet E, Haruno M, et al., 2008, Neural correlates of force and impedance learning, NEUROSCIENCE RESEARCH, Vol: 61, Pages: S278-S278, ISSN: 0168-0102
Wang F, Su E, Burdet E, et al., 2008, Development of a Microsurgery Training System, 30th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society, Publisher: IEEE, Pages: 1935-+, ISSN: 1557-170X
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- Citations: 13
Franklin DW, So U, Burdet E, et al., 2007, Visual Feedback Is Not Necessary for the Learning of Novel Dynamics, PLOS ONE, Vol: 2, ISSN: 1932-6203
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- Citations: 66
Franklin DW, So U, Burdet E, et al., 2007, Visual Feedback is not necessary for the Learning of Novel Dynamics, PLOS One, Vol: 2, ISSN: 1932-6203
Background. When learning to perform a novel sensorimotor task, humans integrate multi-modal sensory feedback such asvision and proprioception in order to make the appropriate adjustments to successfully complete the task. Sensory feedback isused both during movement to control and correct the current movement, and to update the feed-forward motor commandfor subsequent movements. Previous work has shown that adaptation to stable dynamics is possible without visual feedback.However, it is not clear to what degree visual information during movement contributes to this learning or whether it isessential to the development of an internal model or impedance controller. Methodology/Principle Findings. We examinedthe effects of the removal of visual feedback during movement on the learning of both stable and unstable dynamics incomparison with the case when both vision and proprioception are available. Subjects were able to learn to make smoothmovements in both types of novel dynamics after learning with or without visual feedback. By examining the endpointstiffness and force after learning it could be shown that subjects adapted to both types of dynamics in the same way whetherthey were provided with visual feedback of their trajectory or not. The main effects of visual feedback were to increase thesuccess rate of movements, slightly straighten the path, and significantly reduce variability near the end of the movement.Conclusions/Significance. These findings suggest that visual feedback of the hand during movement is not necessary for theadaptation to either stable or unstable novel dynamics. Instead vision appears to be used to fine-tune corrections of handtrajectory at the end of reaching movements.
Qiang Zeng, Etienne Burdet, Brice Rebsamen, et al., 2007, Evaluation of the collaborative wheelchair assistant system, IEEE International Conference on Rehabilitation Robotics (ICORR)
Zhou L, Teo CL, Burdet E, 2007, Analysis and parameter optimization of an Elastic Path Controller, Pages: 789-794
This paper presents an analysis of a newly developed Elastic Path Controller (EPC) that can be used in assistive devices with human operators. The technique of robust control is also utilized to determine the parameters of the EPC in order to ensure that the EPC can tolerate possible uncertainties or disturbances in the environment. The new EPC is applied to a robotic wheelchair and tested in simulation. The results demonstrate the efficacy of the EPC. ©2007 IEEE.
Zhou L, Teo CL, Burdet E, 2007, Development of a novel elastic path controller, Pages: 1596-1601, ISSN: 1062-922X
This paper presents a novel type of Elastic Path Controller (EPC) to control and manipulate the assistive devices such as the Collaborative Wheelchair Assistant (CWA). Compared to previous controllers such as Samson's and Brent's controller, the proposed EPC is safer and more maneuverable. This paper also proposes the handling of singularity and solutions to backward motion problems of the EPC. Simulation experiments show that the new EPC can fulfill the tasks of path following, obstacle avoiding, singularity handling, backward motion, and so on. © 2007 IEEE.
Brice Rebsamen, Etienne Burdet, Cuntai Guan, et al., 2007, Controlling a wheelchair using a BCI with low information transfer rate, IEEE International Conference on Rehabilitation Robotics (ICORR)
Andrew P Shacklock, MC Pritchard, H Luo, et al., 2007, Intuitive command of manipulators in micro-scale tasks, IEEE International Conference on Robotics and Automation (ICRA), Pages: 846-851
Lambercy O, Dovat L, Gassert R, et al., 2007, A haptic knob for rehabilitation of hand function, Pages: 356-366, ISSN: 1534-4320
This paper describes a novel two-degree-of-freedom robotic interface to train opening/closing of the hand and knob manipulation. The mechanical design, based on two parallelogram structures holding an exchangeable button, offers the possibility to adapt the interface to various hand sizes and finger orientations, as well as to right-handed or left-handed subjects. The interaction with the subject is measured by means of position encoders and four force sensors located close to the output measuring grasping and insertion forces. Various knobs can be mounted on the interface, including a cone mechanism to train a complete opening movement from a strongly contracted and closed hand to a large opened position. We describe the design based on measured biomechanics, the redundant safety mechanisms as well as the actuation and control architecture. Preliminary experiments show the performance of this interface and some of the possibilities it offers for the rehabilitation of hand function. © 2007 IEEE.
Lambercy O, Dovat L, Gassert R, et al., 2007, A Haptic Knob for Rehabilitation of Hand Function, IEEE Transaction on Neural Systems and Rehabilitation Engineering, Vol: 15, Pages: 356-366
Dominique Chapuis, Roger Gassert, Etienne Burdet, et al., 2007, A haptic knob with a hybrid ultrasonic motor and powder clutch actuator, Joint Eurohaptics and Symposium on Haptic Interfaces and Teleoperation, Worldhaptics
David W Franklin, Gary Liaw, Theodore E Milner, et al., 2007, The End-point Stiffness of the Arm is directionally tuned to Instability in the Environment, journal of neuroscience, Vol: 27(29), Pages: 7705-7716
Ludovic Dovat, Olivier Lambercy, Vineet Johnson, et al., 2007, A cable driven robotic system to train finger function after stroke, IEEE International Conference on Rehabilitation Robotics (ICORR), Publisher: IEEE
This paper presents a novel robotic interface to train intrinsic finger movements. The mechanical design, base on a cable system interacting with the fingers, offers the possibility of adapting the interface to accommodate various hand sizes and finger orientation. A main feature of the device is a clutch system, which consists of five clutches, one for each finger, that can be switched to three different modes: ( rest mode: the fingers are mechanically maintained at a fixed position, (ii) passive (from the view of the interface) mode: the finger is free to move along the path defined by the cable, and (iii) active mode: the force generated by the motor is applied to the finger.) With this mechanism, it is possible to train hand muscle function using only one actuator. The interaction wit the subject is measured by means of a position encoder an five force sensors located close to the output. We describe the human-oriented design of our underactuated robotic interface based on measured biomechanics. We detail the redundant safety mechanisms, the actuation, sensing and control system and report the performance and preliminary results obtained with this interface.
Qiang Zeng, Etienne Burdet, Brice Rebsamen, et al., 2007, Experiments on collaborative learning with a robotic wheelchair, International Convention for Rehabilitation Engineering and Assistive Technology (i-Create)
Longiang Zhou, Chee Leong Teo, Etienne Burdet, 2007, An elastic path controller for a collaborative wheelchair assistant, International Convention for Rehabilitation Engineering and Assistive Technology (i-Create)
Boy ES, Burdet E, Teo CL, et al., 2007, Investigation of motion guidance with scooter cobot and collaborative learning, Eurohaptics Conference 2003, Publisher: IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, Pages: 245-255, ISSN: 1552-3098
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- Citations: 11
Rebsamen B, Burdet E, Guan CT, et al., 2007, Controlling a wheelchair indoors using thought, IEEE INTELL SYST, Vol: 22, Pages: 18-24, ISSN: 1541-1672
H Zhang, E Burdet, AN Poo, et al., 2007, Robotic Microassembly of Tissue Engineering Scaffolds, IEEE Transactions on Automation Science and Engineering, Vol: in press
Lambercy O, Dovat L, Johnson V, et al., 2007, Development of a robot-assisted rehabilitation therapy to train hand function for activities of daily living, 10th IEEE International Conference on Rehabilitation Robotics, Publisher: IEEE, Pages: 678-+, ISSN: 1945-7898
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- Citations: 19
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