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. Lecture Notes in Computer Science (Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 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. IEEE International Conference on Rehabilitation Robotics, 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. (2018). Missing Depth Cues in Virtual Reality Decrease Performance of Three-Dimensional Reaching Movements. In Advances in Intelligent Systems and Computing (Vol. 663, pp. 113–123). Springer Verlagservice@springer.de. 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