Dr. Nicolas Gerig

Karnam, Murali, Zelechowski, Marek, Cattin, Philippe C., Rauter, Georg, & Gerig, Nicolas. (2025). User-specified inverse kinematics taught in virtual reality reduce time and effort to hand-guide redundant surgical robots [Journal-article]. Communications Engineering, 4(1). https://doi.org/10.1038/s44172-025-00357-x

Żelechowski, M., Zubizarreta-Oteiza, J., Karnam, M., Faludi, B., Zentai, N., Gerig, N., Rauter, G., Thieringer, F. M., & Cattin, P. C. (2025). Augmented reality navigation in orthognathic surgery: Comparative analysis and a paradigm shift. Healthcare Technology Letters, 12(1). https://doi.org/10.1049/htl2.12109

Nahhas, Mohammad Khair, Türp, Jens Christoph, Cattin, Philippe, Gerig, Nicolas, Wilhelm, Elisabeth, & Rauter, Georg. (2024). Toward Wearables for Bruxism Detection: Voluntary Oral Behaviors Sound Recorded Across the Head Depend on Transducer Placement. Clinical and Experimental Dental Research, 10(5). https://doi.org/10.1002/cre2.70001

Margherita Ettori, S. L., Fasel, L., Gerig, N., & Rauter, G. (2024). Force feedback reduces test time and interaction forces in telemanipulated palpation using a robotic endoscope with series elastic actuated joints. Current Directions in Biomedical Engineering, 10(1), 9–12. https://doi.org/10.1515/cdbme-2024-0103

Nahhas, M. K., Gerig, N., Cattin, P., Wilhelm, E., Türp, J. C., & Rauter, G. (2024). Reviewing the potential of hearables for the assessment of bruxism Litareturrecherche zur Eignung von Hearables für die Erkennung von Bruxismus. At-Automatisierungstechnik, 72(5), 389–398. https://doi.org/10.1515/auto-2024-0029

Fasel, Lorin, Gerig, Nicolas, Danun, Aschraf, Meboldt, Mirko, Guzman, Raphael, Cattin, Philippe C., & Rauter, Georg. (2024). Antagonistic Series Elastic Actuation for a Variable Stiffness Robotic Endoscope [Journal-article]. IEEE/ASME Transactions on Mechatronics, 1–11. https://doi.org/10.1109/TMECH.2024.3484583

Zoller, Esther I., von Ballmoos, Sibylle, Gerig, Nicolas, Cattin, Philippe C., & Rauter, Georg. (2024). Handle shape influences system usability in telemanipulation [Journal-article]. Frontiers in Robotics and AI, 11. https://doi.org/10.3389/frobt.2024.1457926

Żelechowski, M., Faludi, B., Karnam, M., Gerig, N., Rauter, G., & Cattin, P. C. (2023). Automatic patient positioning based on robot rotational workspace for extended reality. International Journal of Computer Assisted Radiology and Surgery, 18(11), 1951–1959. https://doi.org/10.1007/s11548-023-02967-2

Karnam, Murali, Cattin, Philippe C., Rauter, Georg, & Gerig, Nicolas. (2023). Qualitative and quantitative assessment of admittance controllers for hand-guiding surgical robots. At-Automatisierungstechnik, 71, 515–527. https://doi.org/10.1515/auto-2023-0063

Eugster M., Duverney C., Karnam M., Gerig N., Cattin P.C., & Rauter G. (2022). Robotic Endoscope System for Future Application in Minimally Invasive Laser Osteotomy: First Concept Evaluation. IEEE Transactions on Medical Robotics and Bionics, 4(3), 621–633. https://doi.org/10.1109/TMRB.2022.3172471

Karnam M., Zelechowski M., Cattin P.C., Rauter G., & Gerig N. (2022). Augmented Reality for 6-DoF Motion Recording, Preview, and Execution to Enable Intuitive Surgical Robot Control. Current Directions in Biomedical Engineering, 8(2), 225–228. https://doi.org/10.1515/cdbme-2022-1058

Fasel L., Gerig N., Cattin P.C., & Rauter G. (2022). Control Evaluation of Antagonistic Series Elastic Actuation for a Robotic Endoscope Joint. Journal of Bionic Engineering, 19(4), 965–974. https://doi.org/10.1007/s42235-022-00180-6

Eugster M., Merlet J.-P., Gerig N., Cattin P.C., & Rauter G. (2022). Miniature parallel robot with submillimeter positioning accuracy for minimally invasive laser osteotomy. Robotica, 40(4), 1070–1097. https://doi.org/10.1017/S0263574721000990

Zelechowski M., Karnam M., Faludi B., Gerig N., Rauter G., & Cattin P.C. (2022). Patient positioning by visualising surgical robot rotational workspace in augmented reality. Computer Methods in Biomechanics and Biomedical Engineering: Imaging and Visualization, 10(4), 451–457. https://doi.org/10.1080/21681163.2021.2002192

Zoller E.I., Gerig N., Cattin P.C., & Rauter G. (2021). The functional rotational workspace of a human-robot system can be influenced by adjusting the telemanipulator handle orientation. IEEE Transactions on Haptics, 14(2), 335–346. https://doi.org/10.1109/TOH.2020.3027261

Zoller E.I., Faludi B., Gerig N., Jost GF, Cattin P.C., & Rauter G. (2020). Force quantification and simulation of pedicle screw tract palpation using direct visuo-haptic volume rendering. International Journal of Computer Assisted Radiology and Surgery, 15(11), 1797–1805. https://doi.org/10.1007/s11548-020-02258-0

Wilhelm, Elisabeth, Crivelli, Francesco, Gerig, Nicolas, Kohler, Malcolm, & Riener, Robert. (2020). The anti-snoring bed - a pilot study [Journal-article]. Sleep Science and Practice, 4(1). https://doi.org/10.1186/s41606-020-00050-2

Basalp E., Bachmann P., Gerig N., Rauter G., & Wolf P. (2020). Configurable 3D rowing model renders realistic forces on a simulator for indoor training. Applied Sciences (Switzerland), 10(3). https://doi.org/10.3390/app10030734

Gerig, Nicolas, Basalp, Ekin, Sigrist, Roland, Riener, Robert, & Wolf, Peter. (2019). Visual error amplification showed no benefit for non-naïve subjects in trunk-arm rowing [Journal-article]. Current Issues in Sport Science (CISS). https://doi.org/10.15203/ciss_2018.013

Rauter, Georg, Gerig, Nicolas, Sigrist, Roland, Riener, Robert, & Wolf, Peter. (2019). When a robot teaches humans: Automated feedback selection accelerates motor learning. Science Robotics, 4(27), eaav1560. https://doi.org/10.1126/scirobotics.aav1560

Novak, D., Sigrist, R., Gerig, N. J., Wyss, D., Bauer, R., Götz, U., & Riener, R. (2018). Benchmarking brain-computer interfaces outside the laboratory: The Cybathlon 2016. Frontiers in Neuroscience, 11(JAN). https://doi.org/10.3389/fnins.2017.00756

Gerig, N., Mayo, J., Baur, K., Wittmann, F., Riener, R., & Wolf, P. (2018). Missing depth cues in virtual reality limit performance and quality of three dimensional reaching movements. PLoS ONE, 13(1). https://doi.org/10.1371/journal.pone.0189275

Gerig N., Wolf P., Sigrist R., Riener R., & Rauter G. (2017). Automated feedback selection for robot-assisted training. International Journal of Computer Science in Sport, 16(3), 149–174. https://doi.org/10.1515/ijcss-2017-0012

Ruben Martin-Rodriguez, Murali Karnam, Florian Thieringer, Georg Rauter, & Nicolas Gerig. (2025, February 19). A Hybrid Educational Platform for Medical Robotics: Bridging Simulation and Real-World Hardware. IFToMM D-A-CH 2025. https://doi.org/10.17185/DUEPUBLICO/82913

Karnam, Murali, Rychen, Jonathan, Guzman, Raphael, Cattin, Philippe C., Rauter, Georg, & Gerig, Nicolas. (2024). Robot-Assisted Neuroendoscopy: Surgeon’s Third Hand-A Proof of Concept Study. Current Directions in Biomedical Engineering, 10, 49–52. https://doi.org/10.1515/cdbme-2024-1064

Maintz, Michaela, Tomooka, Yukiko, Eugster, Manuela, Gerig, Nicolas, Sharma, Neha, Thieringer, Florian M., & Rauter, Georg. (2024). In situ minimally invasive 3D printing for bone and cartilage regeneration - A scoping review. Current Directions in Biomedical Engineering, 10, 66–70. https://doi.org/10.1515/cdbme-2024-1069

Karnam, Murali, Zelechowski, Marek, Cattin, Philippe C., Rauter, Georg, & Gerig, Nicolas. (2023). Workspace-aware Planning of a Surgical Robot Mounting in Virtual Reality. Mechanisms and Machine Science, 133 MMS, 13–19. https://doi.org/10.1007/978-3-031-32446-8_2

Karnam, Murali, Zelechowski, Marek, Cattin, Philippe C., Rauter, Georg, & Gerig, Nicolas. (2022). Augmented Reality for 6-DoF Motion Recording, Preview, and Execution to Enable Intuitive Surgical Robot Control. Current Directions in Biomedical Engineering, 8(2), 225–228. https://doi.org/10.1515/cdbme-2022-1058

Tomooka, Yukiko, Rauter, Georg, Gerig, Nicolas, Takeda, Ryo, Cattin, Philippe, & Eugster, Manuela. (2022). Bending stiffness variability between a deployable robotic laser osteotome and its insertion device. Current Directions in Biomedical Engineering, 8, 138–141. https://doi.org/10.1515/cdbme-2022-0035

Duverney C., El Bahi M.A., Gerig N., Cattin P.C., & Rauter G. (2022). Development and Evaluation of a Force-Sensitive Flexure-Based Microgripper Concept. Mechanisms and Machine Science, 106 MMS, 97–106. https://doi.org/10.1007/978-3-030-76147-9_11

Nahhas M.K., Gerig N., Turp J.C., Cattin P., Wilhelm E., & Rauter G. (2022). Impact of Ear Occlusion on In-Ear Sounds Generated by Intra-oral Behaviors. Mechanisms and Machine Science, 106 MMS, 147–154. https://doi.org/10.1007/978-3-030-76147-9_16

Faludi, Balázs, Gerig, Nicolas, Zoller, Esther I., Jost, Gregory F., Rauter, Georg, & Cattin, Philippe C. (2021, January 1). Visuo-Haptic Simulator Enables Palpation of Digitally Created Pedicle Screw Tracts for Patient-Specific Planning and Training. 20th SGS Annual Meeting.

Fasel L., Gerig N., Cattin P.C., & Rauter G. (2021). Tendon force control evaluation for an endoscope with series elastic actuation. Mechanisms and Machine Science, 93, 118–126. https://doi.org/10.1007/978-3-030-58104-6_14

Fasel L., Gerig N., Cattin P.C., & Rauter G. (2021, January 1). The SEA-Scope: Torque-limited endoscopic joint control for telemanipulation or visual servoing through tendon force control with series elastic actuation. https://doi.org/10.1109/ISMR48346.2021.9661497

Karnam M., Eugster M., Parini R., Cattin P.C., De Momi E., Rauter G., & Gerig N. (2021). Learned task space control to reduce the effort in controlling redundant surgical robots. Mechanisms and Machine Science, 93, 161–168. https://doi.org/10.1007/978-3-030-58104-6_19

Karnam, Murali, Cattin, Philippe, Rauter, Georg, & Gerig, Nicolas. (2021). Comparing cascaded real-time controllers for an extended KUKA LBR iiwa robot during physical human-robot interaction. Siebte IFToMM D-A-CH Konferenz 2021, 2021. https://doi.org/10.17185/duepublico/74060

Fasel, Lorin, Gerig, Nicolas, Schraivogel, Stephan, Friederich, Niklaus, Zam, Azhar, Cattin, Philippe C., & Rauter, Georg. (2020, January 1). Visual servoing for tracking cartilage with a robotic endoscope. Automed 2020.

Karnam, Murali, Parini, Riccardo, Eugster, Manuela, Cattin, Philippe C., Rauter, Georg, & Gerig, Nicolas. (2020, January 1). An intuitive interface for null space visualization and control of redundant surgical robots. Automed 2020. https://doi.org/10.18416/automed.2020

Faludi B., Zoller E.I., Gerig N., Zam A., Rauter G., & Cattin P.C. (2019). Direct Visual and Haptic Volume Rendering of Medical Data Sets for an Immersive Exploration in Virtual Reality. 11768 LNCS, 29–37. https://doi.org/10.1007/978-3-030-32254-0_4

Gerig, Nicolas, Riener, Robert, & Wolf, Peter. (2017, January 1). Relating kinematic error to movement variability quantitatively by using dynamic time warping. 9th SGS/4S Annual Meeting.

Basalp, Ekin, Gerig, Nicolas, Marchal-Crespo, Laura, Sigrist, Roland, Riener, Robert, & Wolf, Peter. (2016, January 1). Visual augmentation of spatiotemporal errors in a rowing task. 11th Joint Conference on Motor Control & Learning, Biomechanics & Training. https://doi.org/10.3929/ethz-a-010799461

Marchal-Crespo, L., Wolf, P., Gerig, N., Rauter, G., Jaeger, L., Vallery, H., & Riener, R. (2015). The role of skill level and motor task characteristics on the effectiveness of robotic training: First results. 2015-September, 151–156. https://doi.org/10.1109/icorr.2015.7281191

Waeber, A., Gerig, N., Baur, K., Vallery, H., Lutz, P., Riener, R., Curt, A., Bolliger, M., & Rauter, G. (2015). Guidance in the nullspace reduces task difficulty in robot-assisted coordination training. 642–647. https://doi.org/10.1109/icorr.2015.7281273

Gravenhorst, F., Muaremi, A., Kottmann, F., Troster, G., Sigrist, R., Gerig, N., & Draper, C. (2014, January 1). Strap and row: Rowing technique analysis based on inertial measurement units implemented in mobile phones. https://doi.org/10.1109/ISSNIP.2014.6827677

Rauter G., Fasel L., Eugster M., & Gerig N. (2022). Bio-inspired Structural Intelligence for Miniature Robots in Minimal-Invasive Surgery. In CISM International Centre for Mechanical Sciences, Courses and Lectures (Vol. 606, pp. 37–40). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-06409-8_3

Gerig, N., Mayo, J., Baur, K., Wittmann, F., Riener, R., & Wolf, P. (2017). Missing Depth Cues in Virtual Reality Decrease Performance of Three-Dimensional Reaching Movements (pp. 113–123). Springer International Publishing. https://doi.org/10.1007/978-3-319-67846-7_12

Lorin Fasel, Nicolas Gerig, & Georg Rauter. (2024). Endodevice (Patent No. US 2024/0016370 A1).

Nicolas Gerig. (2018). Elements of Robot-Assisted Movement Training: Automated Feedback, Error Amplification, and Visual Depth Cues [ETH Zürich]. https://doi.org/10.3929/ethz-b-000250849