Lab

Jean-Pierre Gazeau's Lab

Institution: Institut Pprime

Featured projects (1)

Project
RoBioSS team proposed a new design of finger (CNRS Patent WO2016059121 A1) : it is a fully actuated bio-inspired 4 d.o.f. finger driven by four actuators. It has been developed in the context of a project that aims at performing fine manipulation with fingertips like human do, with a high degree of interaction with the environment. Based on the finger design, we developed a robotic hand for inside hand fine manipulation and adaptive grasping. The finger design is based on an anatomical model of a human finger. Thus several fingers can be assembled for building a human sized dextrous hand with anthropomorphic look. The modular design offers the ability to choose the number of fingers to be used as well as the right finger placement based on the manipulation task requirement. The tendon based actuation presents a routing of the tendons that minimizes friction, kinematic and static coupling between different finger axes in the transmission from motors to joints. Unlike many existing robotic hands, among which our first anthropomorphic hand (The LMS Hand), we address the difficulties by decoupling joint motions with a new solution for the universal joint at the base of the finger. Results obtained demonstrate the excellent dynamic behaviour and accuracy of the finger motion. Finally the new finger design led to the development of a fully actuated mechanical hand with four fingers and 16 degrees of freedom : the RoBioSS Hand. The hand was embedded on an industrial robot. A manipulation task that uses simultaneously abduction-adduction motion and flexion-extension motion of the finger demonstrates the potential of the hand for accurate manipulation. See the video on the link : https://www.youtube.com/watch?v=O_P69haNA4A

Featured research (5)

Although lots of assistive devices have been studied to fight against caregivers' work-related musculoskeletal disorders, stand-and-turn devices effects on biomechanical constraints are still unknown. The aim of this study is to provide and compare quantitative data on loads in the low back area resulting from the use of a motorless stand-and-turn device and from manual patient handling. Nine caregivers participated to motion capture and ground reaction forces measurement sessions of three cases of handling: manual handling with one caregiver, manual handling with two caregivers, motorless device assisted handling. Forces and torques at the L5/S1 joint were computed through Inverse Dynamics process. Motorless device assisted handling required the smallest loads whereas manual handling with one caregiver required the biggest loads, the latter being in some cases twice as big as the former. Caregivers should use a stand-and-turn device when handling a patient from sitting/standing to standing/sitting position whenever it is possible.
The quality of robotic dexterous manipulation, in real or in virtual environments, relies on a fine control of the fingertips to perform stable grasps and inside-hand manipulation. In practice, teleoperating a robotic hand requires to capture the human hand configuration. If the user manipulates objects with fingertips, the acquisition of their motion must be accurate enough to produce realistic manipulation at the robot hand or its virtual avatar. In this context, one challenge is to accurately capture the motion of the human hand. The performances of three different hand-tracking devices are evaluated in this paper: two data gloves, the VRFree and the Manus VR, and a vision-based system, the Leap Motion Controller. To this end, the positions of the human hand joints and fingertips are captured while performing several tasks, with a high-precision motion capture system as reference, and with the tested devices. The accuracy of the measured joint angles and fingertips positions is compared for the different systems. Specific measurement configurations are considered by varying the hand orientation and the distances to the sensors. The strengths and weaknesses of these different systems are deduced from the experiments. This system review gives insights into the relevance of hand-tracking devices for remote robotic or virtual manipulation.

Lab head

Jean-Pierre Gazeau
Department
  • Mechanical Engineering and Complex Systems (GMSC)
About Jean-Pierre Gazeau
  • J.P. Gazeau received his M.S. degree in Mechanical Engineering (1994) and his Ph.D. degree in Mechanics (2000), from the University of Poitiers. He is currently a CNRS research engineer at PPRIME Institute UPR 3346. His research interests are: robot hands design, grasping and manipulation strategies with mechanical hands, robot real time control, human-machine interaction and mechatronics design for embedded systems. He is in charge of the animation of the multi-scale manipulation workgroup (GT3) in the French Robotics Research Group, GDR Robotique (https://www.gdr-robotique.org/). He is also the leader of the ROBIOSS team at PPRIME Institute in Poitiers; one of the CNRS robotics labs in France. He is currently the coordinator of ANR Seahand Project (http://anr-seahand.prd.fr).

Members (11)

Patrick Lacouture
  • French National Centre for Scientific Research
Laetitia Fradet
  • Université de Poitiers
Tony Monnet
  • Université de Poitiers
Arnaud Decatoire
  • Institut Pprime
Romain Tisserand
  • Université de Poitiers
Philippe Vulliez
  • Institut Pprime
Pierre Laguillaumie
  • Institut Pprime
Antoine Eon
  • Université de Poitiers
Jean-Baptiste Riccoboni
Jean-Baptiste Riccoboni
  • Not confirmed yet