Robotics, Biomechanics, Sport, and Health
The RoBioSS team has a distinctive research approach which merges biomechanics and robotics to address societal and industrial challenges related to wellness, sport, health, human assistance, and 4.0 industry.
The team studies the motions and interactions of humans and/or robots evolving in a dynamic environment. Our scientific work aims at measuring, understanding, modeling, replicating, and improving motor performances, the principles of sensorimotor perception and coordination, and the control of intercations; whether studying top-level athletes, pathological subjects, or designing collaborative, dexterous, and safe robots.
+33 (0)5 49 49 65 05
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RoBioSS Team, GMSC Department
SP2MI, Bâtiment H1, Téléport 2
11 Boulevard Marie et Pierre Curie
TSA 41123, 86000 Poitiers
HuMAnS - A platform dedicated to human motion analysis.
Two experimental halls, located on the laboratory campus, provide measurement means to evaluate the body kinematics (optoelectronic cameras, IMUs...), the produced forces (force-torque sensors, sensor-equipped ergometers dedicated to cyclism, kayaking...), and the muscle activity (electromyogram) of the subject. Measurement equipment is calibrated, characterized, and portable to in-situ biomechanical analyses, such as in clinical settings or in sport applications.
DextRobUP - Open and dexterous collaborative robotic cells for 4.0 industry
The robotic platform is dedicated to develop, validate, and demonstrate performances of new approaches for productive and collaborative robotics. It provides access to our partners to various robotic systems, ranging from industrial and collaborative robots to laboratory prototypes; to high-fidelity digital twins and VR environments to simulate machine behaviors; and to concrete demonstrations of complex robotic tasks.
The ANR Mach4 joint laboratory (RoBioSS team & ITECA) is a partner of the DEM'UP project, driven by the University of Poitiers, which was just awarded from the DEMOES PIA4 program "Digital demonstrator in higher education".
The TIRREX project (Technological Infreastructue for Robotics Research of Excellence) has been selected to the AMI ESR/EQUIPEX+ call. The project is driven by the CNRS and puts 19 major partners of the French robotics research together to collaborate on six thematic axes. The RoBioSS team is in charge of the XXL Robotics topic, and participate in the Humanoid, Manipulation, and Design and Prototype axes.
We have been awarded from the PIA program for Sport and Very-High Performance with both the D-DAY project, driven by the University of Poitiers, and the PerfAnalytics project, driven by the INRIA Grenoble Rhône-Alpes.
We are offering a PhD position in shared control for haptic teleoperation, in collaboration with the AUCTUS team (Inria Bordeaux), within the ASAP-HRC ANR research program. The PhD project aims at developing shared-autonomy control concepts, to improve human-robot collaboration in haptic teleoperation. Such concepts will merge the human expertise and the robot functional autonomy into a shared action, to better assist workers in their activity. More info.
A PhD position in Mechatronic codesign for dynamic legged robots is available at the Gepetto team (LAAS), in collaboration with the RoBioSS team (Pprime Institute). The thesis aims at developing a multidisciplinary and generic codesign approach, based on common optimization and simulation tools, to build a new prototype of a dynamic biped robot. More info.
Patents and licenses
Patent pending “Compact, parallel, and high-fidelity 7-DOF haptic device”, US Provisional patent N° 63/075,252, Stanford University, Vulliez M. et Khatib O. 2020
Patent pending “Dynamic workspace expansion controller in haptic interaction”, US Provisional Patent N° 63/076,258, Stanford University, Vulliez M. et Khatib O. 2020
Patent pending “Local Autonomy-Based Haptic Robot Interaction with Dual Proxy Model”, US Provisional Patent N° 63/116,418, Stanford University, Jorda M., Vulliez M. et Khatib O. 2020
Patent pending « Dispositif mécatronique d’aide à la rééducation et à l’apprentissage de mouvements humains », N/Ref : 12380-01, CNRS, Université de Poitiers, A. Decatoire, A. Eon, P. Laguillaumie, 2020
Patent pending « Préhenseur marin sensible en efforts », n°1914606, CNRS, Gazeau J.P., Vulliez P., Laguillaumie P., Mizera C. 2019
Patent pending "Main robotique", n°1909724, CNRS, Gazeau J.P., Vulliez P., Laguillaumie P., Mizera C. 2019
Software licensing : « RTRobMultiAxisControl », IDDN. FR.001.300012.000.S.P.2018.000.31235 à l’Agence de Protection des Programmes. 2018
Demande de brevet « IMU4Rowing », N° A.FR3042979, GB2559294, WO2017072453, Nordez A., Colloud F., Fradet L., Fohanno V., Lardy J., Guevel, 2017
Patent pending : « PLAViMoP », IDDN.FR.001.200011.000.S.P.2017.000.31235 à l’Agence de Protection des Programmes. 2016
Software licensing : « Effective Force GUI », IDDN.FR.001.160048.000.S.P.2016.000.31235 à l’Agence de Protection des Programmes. 2016
Patent « Système de détermination d’une puissance produite par un rameur », N° WO 2017072453 (dépôt PCT/FR2016/052795), Fohanno V., Lardy J., Nordez A., Colloud F., Fradet L., Guével A. 2016.
Patent « Doigt robotique modulaire pour la prehension et la manipulation dextre », N° WO 2016059121 A1 (dépôt PCT/EP2015/073800), Rivière T., Arsicault M., Gazeau J.P., Vulliez P., Zeghloul S. 2016
International journals and conferences
MNYUSSIWALLA Hussein, SEGUIN, Pascal, VULLIEZ, Philippe et GAZEAU, Jean-Pierre. Evaluation and selection of grasp quality criteria for dexterous manipulation, Journal of Intelligent & Robotic Systems, 2022, Vol. 104, No. 20.
VAUR, Jennifer, ROBERT, Thomas et TISSERAND, Romain. Intermittent mechanical actions completing inverted-pendulum-like actions for standing balance in humans. In 46ème Congrès de la Société de Biomécanique, 2021, Vol. 24, pp. pp-S77, access.
RICCOBONI, Jean-Baptiste, MONNET, Tony, EON, Antoine, et al. Biomechanical comparison between manual and motorless device assisted patient handling: sitting to and from standing position. Applied Ergonomics, 2021, vol. 90, p. 103284.
DELRIEU, Thibauld, WEISTROFFER, Vincent, et GAZEAU, Jean Pierre. Precise and realistic grasping and manipulation in Virtual Reality without force feedback. In : 2020 IEEE Conference on Virtual Reality and 3D User Interfaces (VR). IEEE, 2020. p. 266-274.
KUCH, A., DEBRIL, J.-F., DOMALAIN, M., et al. Effect of bow drawing technique on skilled archer postural stability: a case study. Computer Methods in Biomechanics and Biomedical Engineering, 2020, vol. 23, no sup1, p. S159-S161.
MÉNARD, Mathieu, LACOUTURE, Patrick, et DOMALAIN, Mathieu. ILIOTIBIAL BAND SYNDROME IN CYCLING: A COMBINED EXPERIMENTAL-SIMULATION APPROACH FOR ASSESSING THE EFFECT OF SADDLE SETBACK. International Journal of Sports Physical Therapy, 2020, vol. 15, no 6, p. 958.
MIZERA, C., DELRIEU, T., WEISTROFFER, V., et al. Evaluation of hand-tracking systems in teleoperation and virtual dexterous manipulation. IEEE Sensors Journal, 2019, vol. 20, no 3, p. 1642-1655.
PRINCELLE, D., DOMALAIN, M., DEBRIL, J. F., et al. Hip joint dynamics during the BMX gate start: a case study. Computer Methods in Biomechanics and Biomedical Engineering, 2020, vol. 23, no sup1, p. S238-S240.
RETAILLEAU, Maëva et COLLOUD, Floren. New insights into lumbar flexion tests based on inverse and direct kinematic musculoskeletal modeling. Journal of Biomechanics, 2020, vol. 105, p. 109782.
CHERNI, Yosra, DESSEAUVE, David, DECATOIRE, Arnaud, et al. Evaluation of ligament laxity during pregnancy. Journal of gynecology obstetrics and human reproduction, 2019, vol. 48, no 5, p. 351-357.
BERNARDINA, Gustavo RD, MONNET, Tony, CERVERI, Pietro, et al. Moving system with action sport cameras: 3D kinematics of the walking and running in a large volume. PloS one, 2019, vol. 14, no 11, p. e0224182.
DECATOIRE, Arnaud, BEAUPREZ, Sophie-Anne, PYLOUSTER, Jean, et al. PLAViMoP: how to standardize and simplify the use of point-light displays. Behavior research methods, 2019, vol. 51, no 6, p. 2573-2596.
DESSEAUVE, David, FRADET, Laetitia, LACOUTURE, Patrick, et al. Is there an impact of feet position on squatting birth position? An innovative biomechanical pilot study. BMC pregnancy and childbirth, 2019, vol. 19, no 1, p. 1-7.
DESSEAUVE, David, PIERRE, Fabrice, FERNANDEZ, Anna, et al. Assessment of pelvic-Lumbar-thigh Biomechanics to optimize the childbirth position: An “In Vivo” innovative Biomechanical Study. Scientific reports, 2019, vol. 9, no 1, p. 1-7.
EON, A., GASTEBOIS, J., LAGUILLAUMIE, P., et al. ORHRO: OPEN Robotics Humanoid RObot-from a mechanical retrofit to a new real time industrial controller based walking robot. Computer Methods in Biomechanics and Biomedical Engineering, 2019, vol. 22, no sup1, p. S502-S504.
FISCHER, Harrisson, VULLIEZ, Margot, LAGUILLAUMIE, P., et al. RTRobMultiAxisControl: a framework for real-time multiaxis and multirobot control. IEEE Transactions on Automation Science and Engineering, 2019, vol. 16, no 3, p. 1205-1217, access.
GACHON, Bertrand, NORDEZ, Antoine, PIERRE, Fabrice, et al. In vivo assessment of the levator ani muscles using shear wave elastography: a feasibility study in women. International urogynecology journal, 2019, vol. 30, no 7, p. 1179-1186.
LE MOUEL, Charlotte, TISSERAND, Romain, ROBERT, Thomas, et al. Postural adjustments in anticipation of predictable perturbations allow elderly fallers to achieve a balance recovery performance equivalent to elderly non-fallers. Gait & posture, 2019, vol. 71, p. 131-137.
PACHER, L., FRADET, L., TARENT, Y., et al. Pelvis and hip calibration methods for movement analysis with inertial sensors. Computer Methods in Biomechanics and Biomedical Engineering, 2019, vol. 22, no sup1, p. S166-S168.
PRINCELLE, D., MONNET, T., BRUNET, E., et al. Dynamic analysis of the BMX start: interactions between riders and their bike. Computer Methods in Biomechanics and Biomedical Engineering, 2019, vol. 22, no sup1, p. S311-S313.
RETAILLEAU, M., FISETTE, P., et COLLOUD, F. A closed-loop multibody model to assess lower-limb kinematics in rowing. Computer Methods in Biomechanics and Biomedical Engineering, 2019, vol. 22, no sup1, p. S345-S347.
BUNLON, Frédérique, GAZEAU, Jean-Pierre, COLLOUD, Floren, et al. Joint action with a virtual robotic vs. human agent. Cognitive Systems Research, 2018, vol. 52, p. 816-827.
DALLA BERNARDINA, Gustavo Ramos, MONNET, Tony, PINTO, Heber Teixeira, et al. Are action sport cameras accurate enough for 3d motion analysis? A comparison with a commercial motion capture system. Journal of applied biomechanics, 2019, vol. 35, no 1, p. 80-86.
GACHON, Bertrand, DESGRANGES, Marion, FRADET, Laetitia, et al. Is increased peripheral ligamentous laxity in term pregnant women associated with obstetric anal sphincter injury?. International urogynecology journal, 2018, vol. 29, no 11, p. 1589-1595.
MENARD, Mathieu, DOMALAIN, Mathieu, DECATOIRE, Arnaud, et al. Influence of saddle setback on knee joint forces in cycling. Sports biomechanics, 2018.
NEZ, Alexis, FRADET, Laetitia, LAGUILLAUMIE, Pierre, et al. Simple and efficient thermal calibration for MEMS gyroscopes. Medical engineering & physics, 2018, vol. 55, p. 60-67.
NEZ, Alexis, FRADET, Laetitia, MARIN, Frédéric, et al. Identification of noise covariance matrices to improve orientation estimation by Kalman filter. Sensors, 2018, vol. 18, no 10, p. 3490, access.
RASMAN, Brandon G., FORBES, Patrick A., TISSERAND, Romain, et al. Sensorimotor manipulations of the balance control loop–beyond imposed external perturbations. Frontiers in neurology, 2018, vol. 9, p. 899.
ROBERT, Thomas, VALLÉE, P., TISSERAND, R., et al. Stepping boundary of external force-controlled perturbations of varying durations: Comparison of experimental data and model simulations. Journal of biomechanics, 2018, vol. 75, p. 89-95.
SAMSON, M., MONNET, T., BERNARD, A., et al. Analysis of a swimmer’s hand and forearm in impulsive start from rest using computational fluid dynamics in unsteady flow conditions. Journal of biomechanics, 2018, vol. 67, p. 157-165.
SAMSON, Mathias, MONNET, Tony, BERNARD, Anthony, et al. Comparative study between fully tethered and free swimming at different paces of swimming in front crawl. Sports biomechanics, 2018.
TISSERAND, R., ARMAND, Stéphane, ALLALI, Gilles, et al. Cognitive-motor dual-task interference modulates mediolateral dynamic stability during gait in post-stroke individuals. Human movement science, 2018, vol. 58, p. 175-184.
TISSERAND, Romain, DAKIN, Christopher J., VAN DER LOOS, Machiel HF, et al. Down regulation of vestibular balance stabilizing mechanisms to enable transition between motor states. Elife, 2018, vol. 7, p. e36123.
VULLIEZ, Margot, ZEGHLOUL, Said, et KHATIB, Oussama. Design strategy and issues of the Delthaptic, a new 6-DOF parallel haptic device. Mechanism and Machine Theory, 2018, vol. 128, p. 395-411, access.
VULLIEZ, Philippe, GAZEAU, Jean-Pierre, LAGUILLAUMIE, P., et al. Focus on the mechatronics design of a new dexterous robotic hand for inside hand manipulation. Robotica, 2018, vol. 36, no 8, p. 1206-1224.
DOMALAIN, Mathieu, BERTIN, Anne, et DAVER, Guillaume. Was Australopithecus afarensis able to make the Lomekwian stone tools? Towards a realistic biomechanical simulation of hand force capability in fossil hominins and new insights on the role of the fifth digit. Comptes Rendus Palevol, 2017, vol. 16, no 5-6, p. 572-584.
SAMSON, Mathias, BERNARD, Anthony, MONNET, Tony, et al. Unsteady computational fluid dynamics in front crawl swimming. Computer methods in biomechanics and biomedical engineering, 2017, vol. 20, no 7, p. 783-793.
BÉLAISE, Colombe, BLACHE, Yoann, THOUZÉ, Arsène, et al. Effect of wobbling mass modeling on joint dynamics during human movements with impacts. Multibody System Dynamics, 2016, vol. 38, no 4, p. 345-366.
FRADET, Laetitia et MARIN, Frederic. Classification of physical activities based on body-segments coordination. Computers in biology and medicine, 2016, vol. 76, p. 134-142.
MENARD, Mathieu, DOMALAIN, Mathieu, DECATOIRE, Arnaud, et al. Influence of saddle setback on pedalling technique effectiveness in cycling. Sports biomechanics, 2016, vol. 15, no 4, p. 462-472.
NEZ, Alexis, FRADET, Laetitia, LAGUILLAUMIE, Pierre, et al. Comparison of calibration methods for accelerometers used in human motion analysis. Medical engineering & physics, 2016, vol. 38, no 11, p. 1289-1299.
THOUZÉ, A., MONNET, T., BÉLAISE, C., et al. A chain kinematic model to assess the movement of lower-limb including wobbling masses. Computer methods in biomechanics and biomedical engineering, 2016, vol. 19, no 7, p. 707-716.
TISSERAND, Romain, ROBERT, Thomas, DUMAS, Raphaël, et al. A simplified marker set to define the center of mass for stability analysis in dynamic situations. Gait & posture, 2016, vol. 48, p. 64-67.
FRADET, Laetitia, LIEFHOLD, Beate, RETTIG, Oliver, et al. Proposition of a protocol to evaluate upper-extremity functional deficits and compensation mechanisms: application to elbow contracture. Journal of Orthopaedic Science, 2015, vol. 20, no 2, p. 321-330.
MNYUSIWALLA, Hussein, VULLIEZ, Philippe, GAZEAU, Jean-Pierre, et al. A new dexterous hand based on bio-inspired finger design for inside-hand manipulation. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 2015, vol. 46, no 6, p. 809-817.
SAMSON, Mathias, MONNET, Tony, BERNARD, Anthony, et al. The role of the entry-and-stretch phase at the different paces of race in front crawl swimming. Journal of sports sciences, 2015, vol. 33, no 15, p. 1535-1543.
SAMSON, Mathias, MONNET, Tony, BERNARD, Anthony, et al. Kinematic hand parameters in front crawl at different paces of swimming. Journal of biomechanics, 2015, vol. 48, no 14, p. 3743-3750.
VALLÉE, Pascal, TISSERAND, Romain, et ROBERT, Thomas. Possible recovery or unavoidable fall? A model to predict the one step balance recovery threshold and its stepping characteristics. Journal of biomechanics, 2015, vol. 48, no 14, p. 3905-3911.