Cobotics, Bio-Engineering & Robotics for Assistance – CoBRA

Team Members

Marc Arsicault, Associate Professor (HDR) Cyril Breque, Associate Professor Med Amine Laribi, Full Professor

(Team leader)

 Juan Sandoval, Associate Professor Saïd Zeghloul, Full Professor

 

Mykhailo Riabtsev

(2023 - 2025). Post-doc topic: « ... ». Direction: M. A. Laribi, J. Sandoval, V. Petuya Arcocha

----- To be filled -----

 

Contact: riabtsev.m@gmail.com
Ferdaws Ennaiem

(2023 - 2025). Post-doc topic: « Surgical robot for bone cutting by femtosecond laser in cranio-maxillofacial surgery ». Direction: M. A. Laribi, J. Sandoval

During osteotomy surgery, mechanical instruments are generally used. However, despite their efficiency, these tools are not accurate, especially for complex cut forms. Moreover, they induce thermal and physical damage to the involved bone, which affects its regeneration. In this context, this project is proposed. It consists of combining the features of collaborative robotic arms, particularly in terms of precision, with the use of femtosecond lasers for athermal and contactless bone cutting. Thus, the main axes addressed in this work are the identification of the robotic arm optimal positioning with respect to the patient, and its control to follow the cut predefined trajectory while considering the possible disturbing movements of the patient's head.

Contact: ferdaws.ennaiem@univ-poitiers.fr

 

Siwar Bouzid

(2022 - nowadays). PhD topic: "Robotic approach to assist in learning and evaluating the laparoscopic procedure". Advisors: M. Arsicault, S. Bennour, A. Chaker

This is a joint supervision thesis between the University of Sousse and the University of Poitiers whose objective is to study and develop a platform for training and evaluation of laparoscopic surgery close to the ecological conditions of use (real conditions) of surgeons. The aim of the work is to provide a device with a high degree of performance and acceptability, helping to improve the learning curve of surgical students. This will rationalize the coaching efforts of expert trainers through quantitative performance evaluations and recordings of the apprentices' movements. An advanced level of robotic assistance will be provided to guide the training of surgeons based on expert standard movements.

Thus, the thesis will be developed in close collaboration with a team of expert surgeons and medical students to identify the key needs and to come up with a device that is as close as possible to real operating conditions.

 

Contact: siwar.bouzid@univ-poitiers.fr
Elie Gautreau

(2021 - nowadays). PhD topic: "Biomimetic synthesis for bio-inspired robotics: application to undulatory snake drone swimming". Advisors: M. A. Laribi, X. Bonnet

Studying snakes and taking precise measurements of their movements to qualify and quantify the energy efficiency of their swimming is an important step. Testing the impact of changes in kinematic parameters requires obedience on their part, which is impossible. The envisaged solution is the use of a bio-inspired snake drone, reproducing the undulatory swimming of biological snakes. Such a biomimetic robot is a tool developed by roboticists for biologists, which is inserted in a feedback loop to test biological hypotheses. Thus, my PhD project aims at developing a complex mechatronic system by biomimetic linking wave kinematics to the performance and efficiency of snake swimming. The aim is both to contribute to the constitution of a vast collection of kinematics using precise recordings, and to develop an optimal biomimetic method allowing the improvement of the design of more energy-efficient drones. In the long term, this project should enable collaboration between roboticists and industrialists involved in the development of bio-inspired snake drones. Also, biomimicry could be integrated into higher education curricula in the coming years by including the growing importance of bio-inspired processes and technologies.This thesis will be based on three main objectives. (1) To conduct a kinematic study of the volumetric swimming of biological snakes through a campaign of motion capture and video measurements. (2) To develop the kinematics of a bio-inspired module and to exploit it in the realization of a multi-module bio-inspired snake. (3) To develop and integrate the control of the robot by reproducing the snakes' swimming mechanisms in a faithful and reliable way for the scientists.

 

Contact: elie.gautreau@univ-poitiers.fr
Alizée Koszulinski

(2021 - nowadays). PhD topic: "Robotic platform for assisted and safe cervical surgery". Advisors: M. A. Laribi, J. Sandoval

This collaborative research project aims at developing a safe robotic platform for spine surgery. The system to be proposed will consist of a collaborative robotic arm and a haptic feedback control interface. The whole system will assist the surgeon in a co-manipulation or tele-operation scheme. The use of the robotic tool aims to improve precision and reduce complication rates. With this robotic technology, surgeons and neurosurgeons in particular will be able to plan procedures and obtain reproducible results.

 

Contact: alizee.koszulinski@univ-poitiers.fr
Majdi Meskini

(2021 - nowadays). PhD topic: "Development of a collaborative macro-mini system with haptic feedback related to the real or virtual environment". Advisors: M. A. Laribi, A. Mlika, M. Arsicault, H. Saafi

The work carried out in the framework of this thesis as a co-supervisor between the University of Poitiers and the University of Sousse focuses on the development of a collaborative macro mini system with a haptic return linked to the real or virtual environment in order to be used in surgery cervical. The robotic system to be developed will consist of a conventional collaborative robot on which will be mounted a mini device guided by a haptic interface of innovative architecture.

 

Contact: majdi.meskini@univ-poitiers.fr
Amir Trabelsi

(2021 - nowadays). PhD topic: "Contribution to the design of a multi-robot system for minimally invasive surgery to perform experiments on cadaveric models". Advisors: M. A. Laribi, A. Mlika, J. Sandoval, S. Lahouar

This is a thesis in co-supervision between the University of Sousse and the University of Poitiers. The objective is to develop and put in operational capacity an experimental multi-robot system of tool holders and haptic interfaces to experimentally perform minimally invasive surgical tasks while maintaining the safe cohabitation between the different components present in the operating room.

 

Contact: amir.trabelsi@univ-poitiers.fr

 

Past PhD students

(2018 - 2022) Ferdaws Ennaiem, « Approche optimale pour la synthèse des robots à câbles dédiés à la rééducation fonctionnelle »,  defended on 18/11/2022. Advisors: M. A. Laribi, J. Sandoval, A. Mlika, L. Romdhane
(2017 - 2021) Inès Ben Hamida, « Synthèse typologique et dimensionnelle des mécanismes à chaînes cinématiques fermées : application aux robots parallèles », defended on 10/11/2021. Advisors: M. A. Laribi, S. Zeghloul, L. Romdhane
(2016 - 2019) Célestin Préault, « Contribution à la conception et la mise en œuvre d’un robot d’assistance aux gestes chirurgicaux », defended on 13/12/2019. Advisors: M. Arsicault, M. A. Laribi
(2016 - 2019) Camille Mizera, « Développement d’un préhenseur multi-digital marinisé dans un contexte de télémanipulation à retour d’efforts », defended on 18/12/2019. Advisors: J.P. Gazeau, S. Zeghloul, M. A. Laribi
(2015 - 2018) Younsse Ayoubi, « Contribution au développement d’un dispositif de sécurité intelligente pour la cobotique », defended on 10/07/2018. Advisors: S. Zeghloul, M. A. Laribi

Past post-doct

  • Inès Ben Hamida (2020), PHC Utique
  • Hanén El Golli (2020), PHC Utique
  • Houssem Saafi (2015 - 2017), ANR SISCob

 

  • Carl Nelson, Professor at the University of Nebraska-Lincoln (USA), invited in 2016 and 2020

 

  • Elena De Momi, Professor at the Politecnico di Milano (Italy), invited in 2019

 

  • Terence Essomba, Professor at the National Central University (Taiwan), invited in 2018 and 2019

 

  • Giuseppe Carbone, Professor at the University of Calabria (Italy), invited in 2017 and 2018

 

  • Lotfi Romdhane, Professor at the American University of Sharjah (UAE), invited in 2015

Research activities

The team's research activities revolve around the following 2 themes:

Optimal design of complex mechatronic systems

This theme concerns the development of optimal mechanisms synthesis approaches in order to bring out new kinematic models for haptic devices and innovative multi-robot systems, namely collaborative ones. This research is based on the expertise of hospital practitioners and an environment made up of cutting-edge equipment such as SimLife technology, developed within the ABS Lab (the Anatomy and Biomechanical Simulation Laboratory) of the University of Poitiers.

Study, evaluation and control for collaborative and physical human-robot interaction (pHRI)

This theme aims to respond to a number of societal and scientific issues specific to collaborative robotics and personal assistance. This research is part of an international research project supported by the CNRS (IRP-RACes) and several national and international collaborations.

Research projects

Publications

  • M. Russo, E. Gautreau, X. Bonnet, M. A. Laribi, Continuum Robots: From Conventional to Customized Performance Indicators. Biomimetics 2023, 8, 147. https://doi.org/10.3390/biomimetics8020147
  • A. Ben Abdallah, I. Khemili, N. Aifaoui, and M. A. Laribi. Metaheuristics-based approach for multiple dynamic responses optimization of flexible mechanisms. Soft Comput (2023). https://doi-org.insis.bib.cnrs.fr/10.1007/s00500-023-07858-x
  • Su, H., Schmirander, Y., Valderrama-Hincapié, S., Qi, W., Ovur, S., & Sandoval, J. (2023). Neural-learning-enhanced Cartesian Admittance control of robot with moving RCM constraints. Robotica, 41(4), 1231-1243. https://doi.org/10.1017/S0263574722001679
  • Koszulinski, A., Ennaiem, F., Sandoval, J., Romdhane, L., Laribi, M.A. Optimal Design and Experimental Validation of a Cable-Driven Parallel Robot for Movement Training of the Head–Neck Joint. Robotics 2023, 12, 18. https://doi.org/10.3390/robotics12010018
  • Ennaiem, F., Chaker, A., Sandoval, J., Mlika, A., Romdhane, L., Bennour, S., . . . Laribi, M. (2023). A hybrid cable-driven parallel robot as a solution to the limited rotational workspace issue. Robotica, 41(3), 850-868. https://doi.org/10.1017/S0263574722000923
  • Gautreau, E., Bonnet, X., Sandoval, J., Fosseries, G., Herrel, A., Arsicault, M., Zeghloul, S., Laribi, M.A. A Biomimetic Method to Replicate the Natural Fluid Movements of Swimming Snakes to Design Aquatic Robots. Biomimetics 2022, 7, 223. https://doi.org/10.3390/biomimetics7040223
  • Gautreau, E., Bonnet, X., Fox, T., Fosseries, G., Valle, V., Herrel, A., & Laribi, M. A., Complementary Methods to Acquire the Kinematics of Swimming Snakes: A Basis to Design Bio-inspired Robots. J Bionic Eng (2022). https://doi.org/10.1007/s42235-022-00291-0
  • Zapatero-Gutiérrez, A., Castillo-Castañeda, E., & Laribi, M. (2022). A five-bar mechanism to assist finger flexion-extension movement: System implementation. Robotica, 1-19. https://doi.org/10.1017/S0263574722001217
  • Baghbani, R., Ashoorirad, M., Salemi, F., Laribi, M., & Mostafapoor, M. (2022). Design and construction of a wireless robot that simulates head movements in cone beam computed tomography imaging. Robotica, 1-14. https://doi.org/10.1017/S0263574722001072
  • Fort, M. A. Laribi and M. Ceccarelli, “Design and performance of a larmbot PK arm prototype” International Journal of Humanoid Robotics, July 2022. https://doi.org/10.1142/S0219843622500098
  • Koszulinski, A., Sandoval, J., Vendeuvre, T., Zeghloul, S., and Laribi, M. A. (June 16, 2022). "Comanipulation Robotic Platform for Spine Surgery With Exteroceptive Visual Coupling: Development and Experimentation." J. Med. Devices. December 2022; 16(4): 041002. https://doi.org/10.1115/1.4054550
  • Cau, M., Sandoval, J., Arguel, A., Breque, C., Huet, N., Cau, J., Laribi, M.A. Toward Optimal Learning of the Gesture in Laparoscopic Surgery: Methodology and Performance. Clin. Med. 2022, 11, 1398. https://doi.org/10.3390/jcm11051398
  • Ceccarelli, M.; Bottin, M.; Russo, M.; Rosati, G.; Laribi, M.A.; Petuya, V. “Requirements and Solutions for Motion Limb Assistance of COVID-19 Patients”. Robotics 2022, 11, 45. https://doi.org/10.3390/robotics11020045
  • Contreras-Calderón, M.G., Castillo-Castañeda, E., Laribi, M.A., Design, analysis, and simulation of a new variable stiffness joint based on antagonist principle, Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2022;236(18):9991-10000. https://doi.org/10.1177/09544062221088714
  • Contreras-Calderón, M.G., Castillo-Castañeda, E., Laribi, M.A. Integration of variable stiffness actuators in a five-bar device to assist in active rehabilitation of the arm. Meccanica 57, 697–706 (2022). https://doi.org/10.1007/s11012-021-01462-9
  • Ennaiem, F., Chaker, A., Sandoval, J. et al. Cable-Driven Parallel Robot Workspace Identification and Optimal Design Based on the Upper Limb Functional Rehabilitation. J Bionic Eng (2022). https://doi.org/10.1007/s42235-022-00162-8
  • Laribi, M.A., Ceccarelli, M., Sandoval, J. et al. Experimental Validation of Light Cable-Driven Elbow-Assisting Device L-CADEL Design. J Bionic Eng (2022). https://doi.org/10.1007/s42235-021-00133-5
  • Gautreau, E., Sandoval, J., Thomas, A., Guilhem, J.-M., Carbone, G., Zeghloul, S., Laribi, M.A. Redundancy Exploitation of an 8-DoF Robotic Assistant for Doppler Sonography. Actuators 2022, 11, 33. https://doi.org/10.3390/act11020033
  • Sandoval, J., Laribi, M.A., Faure, J.P., Brèque, C., Richer, J.P. and Zeghloul S., "Towards an Autonomous Robot-Assistant for Laparoscopy Using Exteroceptive Sensors: Feasibility Study and Implementation," in IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 6473-6480, Oct. 2021. https://doi.org/10.1109/LRA.2021.3094644
  • Ceccarelli M, Riabtsev M, Fort A, Russo M, Laribi MA, Urizar M. Design and Experimental Characterization of L-CADEL v2, an Assistive Device for Elbow Motion. Sensors. 2021; 21(15):5149. https://doi.org/10.3390/s21155149
  • Baigunchekov Z, Laribi MA, Mustafa A, Kassinov A. Kinematic Synthesis and Analysis of the RoboMech Class Parallel Manipulator with Two Grippers. Robotics. 2021; 10(3):99. https://doi.org/10.3390/robotics10030099
  • Saafi, H., Laribi, M. A., and Zeghloul, S.: Design of a 4-DoF (degree of freedom) hybrid-haptic device for laparoscopic surgery (2021), Mech. Sci., 12, 155–164, https://doi.org/10.5194/ms-12-155-2021
  • Laribi, M. A., and Ceccarelli, M. (January 28, 2021). "Design and Experimental Characterization of a Cable-Driven Elbow Assisting Device." ASME. J. Med. Devices. March 2021; 15(1): 014503. https://doi.org/10.1115/1.4049529
  • Zapatero-Gutiérrez, A.; Castillo-Castañeda, E.; Laribi, M.A. On the Optimal Synthesis of a Finger Rehabilitation Slider-Crank-Based Device with a Prescribed Real Trajectory: Motion Specifications and Design Process. Sci. 2021, 11, 708. https://doi.org/10.3390/app11020708
  • I. Ben Hamida, M. A. Laribi, A. Mlika, L. Romdhane, S. Zeghloul, G. Carbone, Multi-Objective Optimal Design of a Cable Driven Parallel Robot for Rehabilitation Tasks, Mechanism and Machine Theory, Volume 156, Février 2021, 104141, https://doi.org/10.1016/j.mechmachtheory.2020.104141
  • Essomba, T., Sandoval, J., Laribi, M.A., Wu, C.-T., Breque, C., Zeghloul, S., Richer, J.-p. Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data. Sci. 2021, 11, 6534. https://doi.org/10.3390/app11146534
  • Ennaiem, F., Chaker, A., Laribi, M.A., Sandoval, J., Bennour, S., Mlika, A., Romdhane, L., Zeghloul, S. Task-Based Design Approach: Development of a Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation. Sci. 2021, 11, 5635. https://doi.org/10.3390/app11125635
  • Ennaiem, F., Chaker, A., Sandoval, J., Laribi, M.A., Bennour, S., Mlika, A., Romdhane, L., Zeghloul, S. Sensitivity Based Selection of an Optimal Cable-Driven Parallel Robot Design for Rehabilitation Purposes. Robotics 2021, 10, 7. https://doi.org/10.3390/robotics10010007
  • Sandoval, J., Laribi, M. A., Zeghloul, S., Arsicault, M., & Guilhem, J. M. (2020). Cobot with prismatic compliant joint intended for Doppler sonography. Robotics, 9(1), 14. https://doi.org/10.3390/robotics9010014
  • Su, H., Qi, W., Yang, C., Sandoval, J., Ferrigno, G., & De Momi, E. (2020). Deep neural network approach in robot tool dynamics identification for bilateral teleoperation. IEEE Robotics and Automation Letters, 5(2), 2943-2949. https://doi.org/1109/LRA.2020.2974445
  • Saafi, H.; Laribi, M.A.; Zeghloul, S. Forward Kinematic Model Resolution of a Special Spherical Parallel Manipulator: Comparison and Real-Time Validation. Robotics 2020, 9, 62, https://doi.org/10.3390/robotics9030062
  • Ayoubi, Y.; Laribi, M.A.; Arsicault, M.; Zeghloul, S. Safe pHRI via the Variable Stiffness Safety-Oriented Mechanism (V2SOM): Simulation and Experimental Validations. Sci. 2020, 10, 3810, https://doi.org/10.3390/app10113810
  • Ben Hamida, I., Laribi, M. A., Mlika, A., Romdhane, L. and Zeghloul, S., 2020. Dimensional Synthesis and Performance Evaluation of Four Translational Parallel Manipulators. In: Robotica. 2020. p. 1–17. https://doi.org/10.1017/S026357472000034X
  • Su, H., Qi, W., Hu, Y., Sandoval, J., Zhang, L., Schmirander, Y., & De Momi, E. (2019). Towards model-free tool dynamic identification and calibration using multi-layer neural network. Sensors, 19(17), 3636. https://doi.org/10.3390/s19173636
  • Essomba, T., Hsu, Y., Sandoval, J., Laribi, M. A., and Zeghloul, S. (2019). "Kinematic Optimization of a Reconfigurable Spherical Parallel Mechanism for Robotic-Assisted Craniotomy." ASME. J. Mechanisms Robotics. December 2019; 11(6): 060905. https://doi.org/10.1115/1.4044411
  • Sandoval, J., Laribi, M. A., Zeghloul, S., & Arsicault, M. (2019). On the design of a safe human-friendly teleoperated system for doppler sonography. Robotics, 8(2), 29. https://doi.org/10.3390/robotics8020029
  • A. Laribi, G. Carbone, S. Zeghloul, « On the Optimal Design of Cable Driven Parallel Robot with a Prescribed Workspace for Upper Limb Rehabilitation Tasks » Journal of Bionic Engineering, 2019, 16: 503. https://doi.org/10.1007/s42235-019-0041-4
  • Courreges, M. A. Laribi, M. Arsicault, J. Absi, and S. Zeghloul. «In Vivo and in Vitro Comparative Assessment of the Log-Linearized Hunt–Crossley Model for Impact-Contact Modeling in Physical Human–Robot Interactions», Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, (March 2019). https://doi.org/10.1177/0959651819834750
  • Y. Ayoubi, M. A. Laribi, S. Zeghloul, M. Arsicault, M. «V2SOM: A Novel Safety Mechanism Dedicated to a Cobot’s Rotary Joints». Robotics 2019, 8, 18. https://doi.org/10.3390/robotics8010018
  • Gautreau, E., Sandoval, J., Thomas, A., Laribi, M.A., Zeghloul, S., " A New Bio-Inspired Hybrid Cable-Driven Robot (HCDR) to Design More Realistic Snakebots," 2022 IEEE International Conference on Robotics and Automation (ICRA), 2022, pp. 2134-2140. https://doi.org/10.1109/ICRA46639.2022.9811550
  • Contreras-Calderón, M.G., Sandoval, J., Castillo-Castañeda, E., Laribi, M.A. (2022). Experimental Validation of a Variable Stiffness Joint Based on Antagonistic Principle. In: Müller, A., Brandstötter, M. (eds) Advances in Service and Industrial Robotics. RAAD 2022. Mechanisms and Machine Science, vol 120. Springer, Cham. https://doi.org/10.1007/978-3-031-04870-8_21
  • Gautreau, E., Sandoval, J., Arsicault, M., Bonnet, X., Zeghloul, S., Laribi, M.A. (2022). Kinematic Modelling of a Bioinspired Two Sections Serial Continuum Robot (SCR). In: Müller, A., Brandstötter, M. (eds) Advances in Service and Industrial Robotics. RAAD 2022. Mechanisms and Machine Science, vol 120. Springer, Cham. https://doi.org/10.1007/978-3-031-04870-8_29
  • Koszulinski, A., Sandoval, J., Essomba, T., Vendeuvre, T., Zeghloul, S., Laribi, M.A. (2022). Null-Space Compliance with Non-linear Behavior: Application to Spine Surgery Robotic Platform. In: Müller, A., Brandstötter, M. (eds) Advances in Service and Industrial Robotics. RAAD 2022. Mechanisms and Machine Science, vol 120. Springer, Cham. https://doi.org/10.1007/978-3-031-04870-8_38
  • Trabelsi, A., Sandoval, J. et al. (2022). Optimal Multi-robot Placement Based on Capability Map for Medical Applications. In: Müller, A., Brandstötter, M. (eds) Advances in Service and Industrial Robotics. RAAD 2022. Mechanisms and Machine Science, vol 120. Springer, Cham. https://doi.org/10.1007/978-3-031-04870-8_39
  • Bonilla, D., Colorado, J.D., Laribi, M.A., Sandoval, J., Alvarado-Rojas, C. (2022). EMG Driven Robotic-Aided Arm Rehabilitation. In: Müller, A., Brandstötter, M. (eds) Advances in Service and Industrial Robotics. RAAD 2022. Mechanisms and Machine Science, vol 120. Springer, Cham. https://doi.org/10.1007/978-3-031-04870-8_40
  • Ennaiem, F., Chaker, A., Laribi, M. A., Sandoval, J., Bennour, S., Mlika, A., ... & Zeghloul, S. (2021) A Reconfigurable 6-DoF Cable-Driven Parallel Robot with an Extended Rotational Workspace. In: Zeghloul S., Laribi M.A., Arsicault M. (eds) Mechanism Design for Robotics. MEDER 2021. Mechanisms and Machine Science, vol 103. Springer, Cham. https://doi.org/10.1007/978-3-030-75271-2_34
  • Gautreau, E., Thomas, A., Sandoval, J., Laribi, M.A., Zeghloul, S. (2021) Design of an 8-DoF Redundant Robotic Platform for Medical Applications. In: Zeghloul S., Laribi M.A., Arsicault M. (eds) Mechanism Design for Robotics. MEDER 2021. Mechanisms and Machine Science, vol 103. Springer, Cham. https://doi.org/10.1007/978-3-030-75271-2_31
  • Fort, A., Salgado, O.S., Laribi, M.A., Sandoval, J., Ceccarelli, M. (2021) Design of a Cable-Driven Robot for Elbow and Wrist Rehabilitation. In: Zeghloul S., Laribi M.A., Sandoval J. (eds) Advances in Service and Industrial Robotics. RAAD 2021. Mechanisms and Machine Science, vol 102. Springer, Cham. https://doi.org/10.1007/978-3-030-75259-0_18
  • Koszulinski, A., Stantinat, E., Ollivier, L., Sandoval, J., Laribi, M.A. (2021) Design of a Cable-Driven Parallel Robot for the Cervical Spine Motion Training. In: Zeghloul S., Laribi M.A., Sandoval J. (eds) Advances in Service and Industrial Robotics. RAAD 2021. Mechanisms and Machine Science, vol 102. Springer, Cham. https://doi.org/10.1007/978-3-030-75259-0_17
  • Essomba, T., Laribi, M.A., Sandoval, J., Wu, CT., Zeghloul, S. (2021) Robotic-Assisted Platform for Spinal Surgery: A Preliminary Study. In: Zeghloul S., Laribi M.A., Sandoval J. (eds) Advances in Service and Industrial Robotics. RAAD 2021. Mechanisms and Machine Science, vol 102. Springer, Cham. https://doi.org/10.1007/978-3-030-75259-0_21
  • Trabelsi, A., Sandoval, J., Ghiss, M., Laribi, M.A. (2021) Development of a Franka Emika Cobot Simulator Platform (CSP) Dedicated to Medical Applications. In: Zeghloul S., Laribi M.A., Sandoval J. (eds) Advances in Service and Industrial Robotics. RAAD 2021. Mechanisms and Machine Science, vol 102. Springer, Cham. https://doi.org/10.1007/978-3-030-75259-0_11
  • Ennaiem, F., Chaker, A., Laribi, M. A., Sandoval, J., Bennour, S., Mlika, A., ... & Zeghloul, S. (2020, July). Daily Life Activities Analysis for Rehabilitation Purposes. In International Workshop on Medical and Service Robots (pp. 290-297). Springer, Cham. https://doi.org/10.1007/978-3-030-58104-6_33
  • Ennaiem, F., Chaker, A., Sandoval, J., Laribi, M. A., Bennour, S., Mlika, A., ... & Zeghloul, S. (2020, June). Optimal Design of a Rehabilitation Four Cable-Driven Parallel Robot for Daily Living Activities. In International Conference on Robotics in Alpe-Adria Danube Region (pp. 3-12). Springer, Cham. https://doi.org/10.1007/978-3-030-48989-2_1
  • Salah, S., Sandoval, J., Ghiss, M., Laribi, M. A., & Zeghloul, S. (2020, June). Online Payload Identification of a Franka Emika Robot for Medical Applications. In International Conference on Robotics in Alpe-Adria Danube Region (pp. 130-136). Springer, Cham. https://doi.org/10.1007/978-3-030-48989-2_15
  • Sandoval, J., Laribi, M. A., & Zeghloul, S. (2019, October). A low-cost 6-DoF master device for robotic teleoperation. In IFToMM International Symposium on Robotics and Mechatronics (pp. 473-480). Springer, Cham. https://doi.org/10.1007/978-3-030-30036-4_43
  • Essomba, T., Sandoval, J., Laribi, M. A., & Zeghloul, S. (2019, October). Multi-objective Optimization of a Reconfigurable Spherical Parallel Mechanism for Tele-Operated Craniotomy. In IFToMM International Symposium on Robotics and Mechatronics (pp. 454-464). Springer, Cham. https://doi.org/10.1007/978-3-030-30036-4_41
  • Sandoval, J., Laribi, M. A., & Zeghloul, S. (2019, October). Autonomous robot-assistant camera holder for minimally invasive surgery. In IFToMM International Symposium on Robotics and Mechatronics (pp. 465-472). Springer, Cham. https://doi.org/10.1007/978-3-030-30036-4_42
  • Sandoval, J., Laribi, M. A., & Zeghloul, S. (2019, July). Prismatic Compliant Joint for Safe Cobots. In IFToMM World Congress on Mechanism and Machine Science (pp. 1899-1907). Springer, Cham. https://doi.org/10.1007/978-3-030-20131-9_188
  • Essomba, T., Sandoval, J., Laribi, M. A., Wu, C. T., Breque, C., Zeghloul, S., & Richer, J. P. (2019, June). Kinematic and force experiments on cadavers for the specification of a tele-operated craniotomy robot. In International Conference on Robotics in Alpe-Adria Danube Region (pp. 447-454). Springer, Cham. https://doi.org/10.1007/978-3-030-19648-6_51
  • Sandoval, J., Laribi, M. A., & Zeghloul, S. (2019, June). Validation of an Ergonomic Contactless Master Device for a Teleoperation Platform. In International Conference on Robotics in Alpe-Adria Danube Region (pp. 421-429). Springer, Cham. https://doi.org/10.1007/978-3-030-19648-6_48
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Voir aussi dans «Mechanical Engineering and Complex Systems»

Mechanics of Lubricated Interfaces – TRIBOLUB Photomechanics & Experimental Mechanics – PEM